Dynamics Analysis Of A Collapsible Manipulator

Applications of robots greatly enhance labor productivity and improve working environment. This paper briefly analyzed the current research robot, we proposed a new model of six degrees of freedom structure folding robot. This paper studied the six degrees of freedom manipulator folding comprehensive theoretical study, the main research focuses on the kinematic analysis workspace solving, dynamic analysis, trajectory planning and virtual modeling and simulation analysis software. Mechanical properties of the robot manipulator analysis is the basis for accurate movement compliance, and the development process in all robots are required for movement and dynamic characteristics of the robot will be a complete analysis. The results of theoretical studies to verify the analysis, by movement of the robot simulation model results were compared theoretical operations, informed of the danger in robot research process in order to optimize the situation by force manipulator structure so that the model has better motion characteristics.In this paper, a collapsible six degrees of freedom manipulator kinematics study, based on the geometric characteristics of the robot kinematics inverse solution was six degrees of freedom manipulator, in the joint angle range were discussed in detail, and use the kinematics simulation MATLAB. Introduction cubic polynomial method for controlling the robot joint research ideas using the Monte Carlo method for solving a cloud robot workspace, analyze structural characteristics of the robot in the actual work process of hydraulically foldable implementations. Then study the structural characteristics of the robot, select the Newton-Euler inverse dynamics equations set up folding robot, the establishment of Newton Euler iterative method required program instructions, and finally the three-dimensional model of the robot folding imported virtual prototyping software ADAMS, specify the robot gripper position and attitude of the target position. Use inverse kinematics equations of the rotation angle of the joint value of the six link, the joint angle variation input into ADAMS model-driven robot articulation, driving robot simulation operation, observe the robot gripper has reached a predetermined target position and attitude, and output of the robot during the movement of each joint in different directions by the forces observed paw and joint motion characteristic curve by the forces can more intuitively feel the relationship between the characteristics of the robot mechanical properties. Finally puzzle paper manipulators encountered in improper places and, as appropriate summarized to provide the basic theory of kinematics and dynamics theoretical foundation for the future research program to further manipulator trajectory planning and force control.