Research And Simulation With 6 Degree Of Freedom Robot

Industrial robots are a class of Mechatronic equipment,Its use of a wide range of areas and the added value is relatively high.Industrial robots are the sunrise industry of information society and the key pillar of advanced manufacturing technology in the future.It has a crucial influence on the progress of society and the development of productive forces.Based on the understanding of the typical manipulator,a 6-DOF Pro/E three-dimensional manipulator was established,and its D-H parameters were obtained according to its structural characteristics.The kinematic equation of the manipulator is established according to the D-H method,study its kinematics positive solution,kinematic inverse solution and Jacobian matrix.The basic parameters are derived from the model,calculate the manipulator of the Coriolis force,centripetal force and gravity coefficient respectively,using Lagrange method to establish their kinetics respectively.Based on the MATLAB Robotics Toolbox toolbox and the modified D-H method,the mathematical model of the manipulator is established,and the kinematics and inverse kinematics simulation are carried out by visual simulation and call correlation function respectively.In the MATLAB environment,the working space of the manipulator is analyzed based on the Monte Carlo method.At the same time,the fifth order polynomial method is used to carry out the trajectory planning of the joint space of the manipulator and the program is simulated.More intuitive display of the movement of the joints of the manipulator,the curve of the joint of the manipulator is obtained.Using the conversion module between ADAMS and Pro / E,the 3D model in Pro / E is introduced into ADAMS and create a virtual prototype of the manipulator.Based on the simulation data of the trajectory planning,the dynamic simulation of the manipulator under normal working conditions is carried out,and the moments of the shaft are obtained and the finite element analysis is carried out.