Research On The Design And Trajectory Planning Of6-dof Industrial Manipulators

With the development of industrial automation, industrial robots have beenwidely applied, of which the6-dof articulated industrial robot is a typicalapplication. A large number of this kind manipulators have been applied in theautomotive manufacturing and electronics assembly industry. To popularize theapplication of industrial robots and reduce the automation systems integrationcosts, there is a need to study industrial robot design method, motion analysisand trajectory planning method, in order to achieve the massive production andapplications of industrial robots, and thereby improving industrial automation.In this paper, a6-dof articulated industrial robot was set as a typicalexample. A typical transmission scheme was given, and its basic parameterizedmodel and component selection method were given. At last, the detail structuremodel was built to provide the basis for the optimal design.Then the general industrial robot motion model was established by the DHmethods. And the general calculation method of the forward and inversekinematic was formulated, and a unique solution was given by the joint attribute.The dynamics of the robots were solved based on the Newton-Euler dynamicequations, and both the forward and inverse dynamic solutions were given by thismethod. In the Matlab, the motion analysis programs were built based on theRobotic Toolbox and the calculation method of the kinematics and dynamicswere verified by simulation.Finally, the trapezoidal velocity trajectory planning, with kinematic anddynamic constraints, was solved by the arc length parameterized method. And aconst acceleration trajectory planning method was given and this method wasoptimized by varying the acceleration. These two methods were verified bysimulations with improving the efficiency of the robot motion.