Working Space And Dexterity Analysis And Application For 6-DOF Industrial Robots

It has been our current strategic objective to develop the industrial robot industry. However, our national robot companies could mainly develop less than 6% of 6-DOF industrial robots, which have a low quality when it comes to accuracy. Working space and dexterity are important indexes of kinematics of industrial robots. At present, there is no systematical study about the working space and dexterity analysis and application of 6-DOF industrial robots based on the common models. This thesis proposes a method to study the working space and dexterity analysis and application of three typical 6-DOF industrial robots systematically. Moreover, the presented method is applicable with all 6-DOF industrial robots.Firstly, D-H modeling methods are used to establish kinematic models of IRB6650 S, UR5, Stanford industrial robots, which have three different configurations. Newton Laphson iterative method is used to design the universal inverse kinematics of 6-DOF industrial robots.Secondly, Monte Carlo method is used to analyze their working spaces. The concept of service sphere is used to analyze their workspace flexibility. MATLAB programming is used to perform these kinematics analysis. The presented method is applicable with all 6-DOF industrial robots. If working space and dexterity are considered as evaluation indexes, a comparative evaluation of different configurations and size parameters can be made.Thirdly, in practice, after inputting parameters of any 6-DOF industrial robot into the GUI, a suitable working space with an appropriate flexibility for that robot can be got.Last but not least, if working space and dexterity are considered as constraints, a design optimization of the configuration and size parameters of 6-DOF industrial robots can be made using genetic algorithm.