PRRR Multi-joint Manipulator Dynamics Analysis And Simulation

With the development of society, the application of robots is an effective means toimprove the efficiency of industrial automation. It is paid widely attention by almost all of us.So the research of robots gets fast development. The robot dynamics is the study which isabout the relationship between the force and movement of robot joints, which main purpose isto optimize control and structure of the robot, to validation the design scheme is feasible or not,and to meet the needs of the robot’s research and development.In this article, PRRR multi-joint robot is based on the crankshaft production line. Itscalculation is about the kinematics and dynamics. And then the simulation analysis is can bedone. This purpose is to optimize the structure of the manipulator, to confirm the feasibility ofdesign, and to improve the production efficiency. First of all, the structure of the robot isdetermined according to the work requirements, the ability adapting to the market, the cost,and other factors, and then the basic parameters of the manipulator can also be determined.After that, the coordinate system of the PRRR manipulator can be established. The relativerelationship between the various links coordinates, and changes of the angle and position arestudied through the homogeneous transformation matrix. The kinematics equation ofmanipulator can be obtained. The PRRR manipulator dynamics equation is calculated, whichis based on Lagrange dynamics equation. Finally, the three-dimensional entity model ofmanipulator is established with UG. Then, the robot model is imported into ADAMS dynamicssimulation software platform, which is for robot dynamics simulation analysis. The curves ofspeed and torque of each joint can be obtained by simulation. By dynamics simulation,whether the program is reasonable can be verified and the dynamics equation of PRRRmanipulator can be obtained. Then, during the required time of work, the changes of the joint’sacceleration, speed and torque are observed by changing the tempo and other factors. With thismethod, the changes of the velocity and acceleration affect on the torque can be explored andvaluable data for further research can be provided.Due to the design from paper to physical needs certain validation and process, so thisstudy has certain practicality. This paper is studied from the structure, kinematics, dynamicsand simulation analysis of the PRRR manipulator, and can provide certain help for thedevelopment of the manipulator. The use of ADAMS virtual prototype simulation software can easily and quickly complete the simulation tasks, avoid complex programming practices, andimprove work efficiency.