The Kinematic Analysis And Simulation Of 5R Muti-joint Loading-uploading Manipulator

As an increasingly wide range of automatic production tools, Manipulator is a kind of scientific and technological tool for the integration of mechanical, electrical, hydraulic, information and other aspects of knowledge. In order to meet the requirements of production, this paper, the kinematic analysis of the manipulator in the upper and lower material of the manipulator is carried out by using the 5R manipulator as the research object, Simplify the structure of the manipulator, avoid wasting resources and improve the efficiency of the manipulator.According to four kinds of models, and the combination of the upper and lower material, Computer numerical control machine tools, select the most suitable material for the mechanical hand of the manipulator. In order to meet the requirements of production, the manipulator is 5 degrees of freedom.According to the actual movement of the manipulator in space, to determine the mechanism parameters, draw the structure diagram of the manipulator, the kinematic analysis of the manipulator is carried out based on the homogeneous coordinates, Obtain Kinematic equation and the inverse kinematics solution is obtained and validation.Through the production of the actual machine hand, on the material table, the layout of the next stage, planning the process of the mechanical hand movement, and then a reasonable allocation of the time needed for the exercise. The angle value of each joint of the manipulator is obtained by the inverse kinematics inverse solution equation. According to the angle value, the angular displacement equation of each joint is fitted by the three interpolation of the angular displacement of the joint of the manipulator.After the trajectory planning is completed, the kinematics of the manipulator is analyzed by Adams. According to the parameters of the manipulator, the 3D model of the manipulator is established, and the model is imported into ADAMS. According to the trajectory equation of the joints, the robot’s joints are constrained, and then kinematic simulation is carried out. The output end trajectory and the angular velocity of each joint, angular acceleration curve, analysis of the curve of the change in real time to the emergence of the problem of correction, to get accurate data, to provide a theoretical basis for the following work.