Modeling And Simulation Of SIX-DOF Industrial Manipulators

With the development of industrial automation, industrial robots have been widely usedin various domains. To popularize the application of industrial robots and reduce theautomation systems integration costs, there is a need to study industrial robot design method,motion analysis and trajectory planning method, achieving the massive production andapplications of industrial robots, and thereby improving industrial automation.This paper is focused on industrial robots control system, mainly studying kinematicsand trajectory planning algorithms of the control system. On the basis of the algorithmimplementation and simulation, this paper tests the algorithm based on the model robot.Firstly, the mathematical model of the robot is illuminated, including the method ofspatial pose describes and D-H model rules.And then, D-H method is used to establish the industrial robot kinematics model for thekinematics analysis．Then designed the articulations and Connecting rods in Solidworks and construct the3-Dmodel.The system interfaces are built on MATLAB and the related program is compiled.Finally, According to the results of planning trajectory, which is acquired fromcalculation of MATLAB. The robot arm’s kinematics was simulated by using softwareADAMS, and the simulation result was analyzed. Therefore, the proposed algorithm iscorrect.The experimental data can provide a theoretical basis for the research of the actualrobot movement process and structural optimization.