Industrial Robot Design Method For Robot Algorithms

In this paper, JRB4014-dof robot is designed for Kejie in the forms of production-study-research combination,and we produced the prototype. Taking the JRB401robot designing and researching process as an example, this paper summaries the method of mechanical design of robot by combinating mechanical design theory and robotics, and studied the trajectory planning algorithms of the robot.The differences between industrial robot and general mechanical design are analyzed in this paper, then this paper combines the mechanical design and robotic theory to pull-in robot kinematics in project design and simulation stage, to model robot and simulate in matlab;In robot structural design and optimise procedure, the robot structural design steps are raised. and the forearm is optimised that its total mass and total deformation are decriced on the bases of finite element analysis cloud;the robot precision design is more simple by drawing into Jacobian matrix.The structure of the trajectory planning is also researched. take specific tasks of JRB401as an example, In Cartesian space,the shortest path is solved by dynamic programming algorithm, and then the B spline interpolation is used to serialize the discrete points; in joint space, the classification is done to different conditions, and the joint space trajectory planning is realized; Finally, the trajectory planning of JRB401is realized by MATLAB, and the file is outputted to do co-simulation between matlab and Solidworks, so that the robot in solidworks can working in accordance with your procedure successfully.