The Research Of Robot Kinematic Simulation System Based On The Three Dimensional Model

The robot motion simulation system is a very advanced and quickly developing research field. In the application of robot design and manufacturing, the system not only can provide effective theoretical basis of various kinds of robots based on their characteristics, but also can offer effective support parameters by simulating the different robots working environment and working process. Using the robot motion simulation technology, enterprises not only can greatly reduce the production cost, but also can decrease the potential safety hazard in the process of manufacture, enhance their competitiveness.In order to furtherly improve the efficiency of robot in the process of industrial production, the Visual Basic software, Solidworks software and MATLAB software are combined to establish the three-dimension model robot motion simulation system through the API interface in this paper. The main works of the dissertation are:(1) Kinematics analysis of robot. This part mainly analyzes the motion relationship between the PO(position and posture) of the end manipulator of robot in the base coordinate system and each joint of robot. The three-dimension robot model with six degree of freedom is established with Solidworks software. And according to the size parameters of the robot, the link coordinate system and the D-H parameter table are established. At last, the positive kinematics solution and inverse solution of robot are analyzed.(2) The design of Robot kinematics interface. This part mainly includes: the programs of positive solution of robot kinematics and inverse solution of robot kinematics are programmed with interactive functions of GUI interface in MATLAB software. And the interaction interfaces of robot kinematics positive solution and kinematics inverse solution are established. In the robot kinematics positive solution interaction interface, the position and posture of the end manipulator of robot can be automatically solved; In the inverse solution interface, all the eight group inverse kinematic solutions can be automatically solved, and the optimal solution also be chosen.(3) Robot path tracking. The robot path tracking is studied using non-time referred robot path tracking method and the space coordinate transformation method.At last, an arbitrary space curve path in the robot’s workspace is set as an example,and the robot path tracking method is simulated in the robot motion simulation system.The simulation results proved that: the path tracking method is right.(4) The three-dimension model robot motion simulation system is designed. With the platform of Solidworks software, using Visual Basic software to set up the robot motion simulation control interface, and combing with MATLAB software, robot motion simulation system is developed. Automatic robot kinematics solution,automatic robot motion parameters input, the control of robot motion simulation, and other functions can be realized. Basing on the research of three-dimension model robot motion simulation system, the problems existing in the process of work of robot can be checked out effectively before producing the robot. So not only unnecessary losses can be avoided, but also the production efficiency of enterprises can be improved by the system.