Optimization Design Of The Space Trajectory Of The 5-DOF Robot Based On UG And ADAMS

Shengong Robotics Institute and North Equipment Company developed the first generation special anti-explosion robot arm.The purpose of the design is to accomplish the task of grasping the explosive and put it in target location in the dangerous environment.With the deepening of the robot technology research,the robot arm of trajectory planning is very important.The research of trajectory optimization of 5 DOF special anti-explosion robot arm is carried out,in this paper.The concrete solution,contents and results are as follows:First,for the problem of low efficiency of the design of the 5 DOF special anti-explosion robot arm,using UG software to simulate the structure of 5 DOF special anti-explosion robot arm,to finish standard parametric model library of special anti-explosion robot arm.And setting up in the assembly module assembly simulation for a robot arm motion space of each parts and interference situation analysis,to speed up the robot arm structure design process and reduce the cost.Second,for the 5 DOF special anti-explosion robot arm joints cannot achieve linkage problem,using D-H method to establish the joint space coordinate system of the5 DOF special anti-explosion robot arm,the kinematics equation of the special anti-explosion robot arm is established.The positive solution and inverse solution are obtained by establishing the kinematics equation of the 5 DOF special anti-explosion robot arm,and using the positive and inverse solutions to achieve the purpose of joint linkage.Third,for the 5 DOF special anti-explosion robot arm movement of larger vibration problem,using Lagrange dynamics method to establish the dynamics equation.And in the Matlab/Simulink environment combined with S-function,a simple dynamic analysis of the special anti-explosion robot arm is carried out.The angular acceleration curve of special anti-explosion robot arm can be in the starting moment and target angular acceleration value is not zero,and it is concluded that the special anti-explosion robot arm generates vibration and impact during the movement.Forth,for the trajectory optimization design of the 5 DOF special anti-explosionrobot arm,the trajectory planning of the 5 DOF special anti-explosion robot arm is based on the five polynomial interpolation method in the joint space coordinate system.The five polynomial can not only ensure the robot arm in the starting position,the position of the target,the key point position,angular velocity,angular acceleration of continuity,but also to control the key points of the angle,angular velocity,angular acceleration.In the Adams software,the simulation analysis is carried out,and the angular velocity,angular velocity and angular velocity of each joint are obtained.The average jerk of the special anti-explosion robot arm is the objective function,and the trajectory optimization design is carried out,so that the robot arm can achieve the purpose of stationary motion.