Research On Motion Simulation Of 4-DOF Manipulator

With the improvement of industrial automation level, manipulators, instead of workers, are adopted to work by more and more industrial production lines. Among them, joint manipulator is widely used because of its compact structure, flexibility, fewer occupied space, large workspace and so on. Take the parts transmission of automobile gearbox processing production line for gears as example, a 4-DOF joint manipulator, which is used in moving gears to different stations of the processing line, has been designed and studied in this paper.Firstly, kinematics of manipulator are studied. The D-H method is used to establish mathematical model for 4-DOF manipulator, forward kinematics equations are derived and inverse kinematics analysis are carried on. Robotics Toolbox of Matlab is used to establish manipulator 3D model and the accurate solutions of forward and inverse kinematics are verified. Reachable workspace and sectional drawings of manipulator, which are used to judge whether there are holes and cavities or not, are obtained by using Monte Carlo numerical method. And the design of manipulator’s geometric parameters to meet the requirements for industrial field has been verified. The manipulator works well in workspace based on a minimun condition number sovled through Jacobi matrix.Secondly, several methods for studying dynamics are introduced. Dynamics equations of maniputor are established by using Lagrange equation, the potential energy and kinetic energy are obtained as well. The manipulator 3D model is established in Pro/e, then it is imported to ADAMS to bulid virtual prototype for dynamical simulation analysis and finally curves of torque, angular velocity as well as angle acceleration for each joint in two different volicities are drawn.Finally, trajectory planning for the manipulator is studied. Basic principles and research problems of trajectory planning are introduced. Take a certain path in parts transmission as the research object, time linear interpolation is selected to draw simulation trajectory in Cartesian space planning and middle point of three times polynomial interpolation is selected to draw joint-time graphs in joint space planning.