Optimization On Configuration Parametric Of Muti-DOF Robotic Manipulator

With the development of robot technology, Multi-DOF mechanical robot arm is becoming the recent research and application hotspot for its advantages. Multi-DOF mechanical robot arm with high reliability, large workspace, good flexibility, etc., are widely used in engineering fields. 7 DOF manipulator arm as a Multi-DOF robot has been studied by many domestic and foreign scholars. Directed to a 7 DOF redundant manipulator,This paper made a further study in its kinematics, work space and structural parameters optimization.Firstly, the manipulator kinematics model was established with D-H method,and the forward kinematics and inverse kinematics equation of the mechanical arm were discussed. The simulation of robot are made with the robotic toolbox in MATLAB, which verified the correctness and reasonableness of the kinematics model.Then,on the basis of kinematics model, the manipulator workspace are solved with Monte Carlo method, and The workspace “cloud” was drawn with MATLAB. At the same time, with the geometric method, the coordinate plane sectional view are acquired. The results show the correctness of workspace from the comparison of two methods.Finally, according to the requirements of arm design, on the basis of Isight software,with Multi-Objective Particle Swarm methods, the manipulator big and small arm was optimized. Arm structure is more reasonable.Through the research of 7-DOF manipulator, the paper improves the theoretical basis of the arm and optimized the structure parameters, which offer a certain reference value for this kind of manipulators.