Research On Simulation And Experiment Of 6-DOF Industrial Robot’s Dynamic Characteristics

With the rapid development of robot technology, the study of industrial robots recieves more and more attention; its applications are also increasingly widespread. This paper takes KUKA robot as the example and completes the study of industrial robot. Based on virtual prototype technology, the robot has completed the theoretical modeling and simulation analysis of kinematics and dynamics, experienced the simulation of flexible multi-body dynamics and vibration characteristics. The main content of the full text is as follows:(1) Based on the method of D-H coordinate and homogeneous transformation, the mathematical model of the kinematics of the robot is established and its forward and inverse solutions are solved. With the Robotics Toolbox in the MATLAB, the simplified three-dimensional model of the robot is established. What’s more, the simulation of forward and inverse kinematics is completed. By the solutions of forward kinematics of arbitrary Angles, the correctness of the established mathematical model is verified. The three-dimensional nephogram and projections in three directions of robot’s workspace are obtained by using MATLAB’s drawing commands and its powerful calculation function.(2) Simulation model of KUKA robot is built by using the three-dimensional modeling tool SolidWorks. Then it is introduced into ADAMS in the appropriate format. The kinematics simulation is completed based on the principle of virtual prototype, obtaining the motion trajectory of robot end, and the curve of displacement, velocity and acceleration of each connecting rod and joint along with the time. The dynamic mathematical model of the robot is established with Lagrange method. The dynamic simulation is completed in ADAMS, obtaining the curve of each joint’s force and torque with the time.(3) Based on the idea of collaborative modeling, virtual prototype technology and finite element method is used to establish the flexible multi-body model of industrial robot. The dynamics simulation is completed after introducing the flexible multi-body model into ADAMS. From the contrast of flexible multi-body model’s and rigid multi-body model’s simulation results, we know that the elastic deformation of parts has an effect on robots’ movement precision and the force each joint suffered in the working process of the robot, and the research of robot’s flexible multi-body dynamics is necessary.(4) On the basis of industrial robot’s flexible multi-body model, the vibration model of the robot is established, forming a vibration system with rigid-flexible coupling structure. Natural frequency and displacement response of the whole robot are got by excitation simulation based on the vibration model, which provide reference for structure improvement of robot. Finally, the reliability of excitation simulation results is verified by the experimental modal test.