Dynamics Analysis And Simulation Of 5-DOF Parallelogram Mechanism Manipulator

With the industrial automation level continuously improving, because the manipulator is the core link in the industrial automation, so the working performance, efficiency, precision and stability of the manipulator are put forward higher requirements. In this paper, aiming at the 5-DOF parallelogram mechanism manipulator, in order to enable it to meet the actual demand of transportation, the kinematics and dynamics of this manipulator are analyzed and simulated.Firstly, according to the geometric features of the parallelogram mechanism, a spatial coordinate system is established and the generalized coordinates of the manipulator are defined. And then the kinematics equation of the manipulator is established and inverse kinematics and Jacobian matrix of the manipulator can be got. On the basis of the kinematics analysis of the manipulator, after the mechanism parameters of the manipulator are set, through the decomposition of the motion of each link of the manipulator the total kinetic energy and total potential energy of the system are calculated. A dynamic model of the manipulator is established with the Lagrangian dynamics, and a method to improve its dynamics performance was carried out basing on this dynamic model.Secondly, according to the actual handling process of the manipulator and on the basis of the kinematics analysis of the manipulator, each joint of the manipulator is interpolated by cubic polynomial which is over path points. The angle, angular velocity, angular acceleration and torque variation with time of each manipulator joint during the whole process are carried out. The image of the angle, angular velocity, angular acceleration and torque variation with time are built up and the correctness of the kinematics analysis and trajectory planning is proved.Finally, the dynamics simulation of the manipulator model which is established by UG is analyzed with the ADAMS basing on the trajectory planning of the manipulator. The angle, angular velocity, angular acceleration and torque variation with time of each manipulator joint during the whole process are carried out. The effect of the tempo of the manipulator working to its efficiency was texted. The dynamic simulation analysis verifies the correctness of the dynamics model reflects the variation of joint driving torque clearly. It lays the foundation for the design and optimization of manipulator control system.