The Dynamics Analysis And Simulation Of5R Muti-joint Loading-uploading Manipulator

Manipulator is a kind of new high-tech and widely used automation tool, based on avariety of microelectronic technology, fused together mechanical technology. In order to meetthe needs of producing applications, this paper carries out kinematics and dynamics analysisfor5R manipulator, aiming at optimizing the structure, reducing production costs, increasingproduction efficiency, and providing the basis for physical prototypes manufacturing of5Rmanipulator.Based on the CNC machine, loading station and uploading station layout requirements,the form of the manipulator is chosen in first step. Then, the parameters of the manipulatorlinks are given and sketch agency designed. Next, the kinematics analysis is carried out byD-H method for5R manipulator, and kinematic equations are deduced. According to thekinematic equations, the every joint angle can be solved out.After the kinematics analysis is completed, the loading path can be planned according tothe joint angle equation using cubic interpolation method. Then the loading and uploading pathequations of every joint angle can be gained.The next step, Lagrange method is applied to the dynamics analysis of the manipulator.There are two aims to carry out dynamics analysis, one is to optimize the structure, and makethe system has the nonlinear coupling as light as possible. The other is to optimize the control,and to improve the static and dynamic quality by analyzing the manipulator dynamics for thepurpose of gaining more accurate trajectory tracking. In this period, first, the rigid bodydynamics model of5R manipulator system is built by Pro/ENGINEER, dynamic analysis iscarried out by Lagrange method, and dynamic equations are deduced to explore therelationship between the torques of each joint and the angles.After the dynamics analysis is completed, the rigid body dynamics model is imported intoADAMS and dynamic simulation is conducted according to the loading and uploading pathwhich is planned in kinematics analysis. After that, the trace of the end point trajectory can betracked, and the curves of all kinds can be output, providing a basis for verifying whether thedynamic model is reasonable or not. Then, two different simulations are carried out accordingto the different running time. With these two simulations, the relationship between the maximum joint torque and the joint angle acceleration can be obtained.The manipulator studied in this paper is closely to production. The features of theoreticaland practical are displayed in this study. With the use of Pro/ENGINEER and ADAMS,dynamics are effectively analyzed and discussed by virtual prototyping technology. And,virtual prototyping technology makes more effective manipulator model building and analysisbe possible. Besides, this study provides a range of reference data for5R manipulator designand manufacturing.