Research And Simulation Of 5-DOF Robot Based On MATLAB

Robotics is a comprehensive reflection of modern science and technology. It is a multidisciplinary advanced high technology that associated with computer, institutional science, cybernetics, bionics, and so on. Advanced robotics represents a country's comprehensive strength and level of science and technology. Robots not only are applied in the field of military aerospace and other frontiers, but also become an indispensable modern manufacturing equipment, widely used in manufacturing process in industries such as aircraft, automobile, electronics. And nowadays robot is gradually working toward the society and families, service robot has entered the people's daily life.In the research and design of robot, the theory and practice of kinematics and dynamics have been the key focus of content. This paper studies the 5-degree of freedom teaching robot. Firstly, using D-H method and homogenous transformation matrix, this paper deduced the expression of the forward and inverse kinematics solutions. By using Monte Carlo method and MATLAB programming, the workspace of robot has been analyzed, which provides a reference for planning the robot's work.Secondly, the 3D model of robot is drawn by using Pro/E software. The model is edited and defined in VRML(Virtual Reality Modeling Language), and the simulation model of virtual reality is generated. Using virtual reality technology in simulation, the robot working conditions can be observed visually and clearly.Robotics Toolbox, based on MATLAB, has realized the simulation of the robot forward and inverse kinematic and trajectory planning. The result of the motion curve provides a reference for planning the robot's work. The visualization of motion simulation is realized by means of Virtual Reality Toolbox in MATLAB. In the case of fixed trajectory, the quintic polynomial interpolation is used to achieve the simulation of robot handing work, the analysis of angular velocity and angular acceleration of each joint, to ensure a smooth running of the robot.Finally, the 5-degree of freedom robot dynamics simulation model is built, applying the SimMechanics Toolbox in MATLAB, and, the joint torque curve of robot is available by carrying out inverse dynamic simulation on the robot handing work in the fixed trajectory. Gravity, friction, and other external causes taken into account in practical work, the torque of each joint that needed will be realized.In this paper, the conclusions and methods from kinematics and dynamics analysis of teaching robot with 5-degree of freedom, is conducive to the research and design of industrial robot in certain extent.