Research On Trajectory Planning Of Five-dof Manipulator And Dynamics Analysis

In such an era of industrial automation,the robot as a booming automation equipment is widely used in all walks of life.Because it has so many characteristics,such as versatility,high efficiency,fast response speed,strong stability,high repeat accuracy,and it can work for so many years,the level of automation is extremely high and so on.With its unique benign structure and flexible control mode,which has an unparalleled advantage of traditional machinery,so the industrial robot technology in the rapid development.Because of the high flexibility of the five-freedom manipulator,it is widely used in various fields.In order to improve the machining efficiency and precision of the manipulator,it is very important to research and analyze the motion planning of the five-freedom manipulator.Five dof manipulator end position control involves the description of the end positions,The traditional S-type acceleration and deceleration control method takes less consideration of the change of the end-axis vector,so the end-position can not be simple and effective,accurate control,and can not effectively take both accuracy and efficiency into consideration.Because of the flexibility of the five-axis manipulator,the joint angle has multi-solution problem,In order to solve the multi-solution problem of five-freedom manipulator inverse solution,and through the analysis of the actual conditions,add the limitation of joint angle,which can divide the multiple solutions into eight reasonably selected cases.In this paper,the motion planning and dynamics study of a five-axis-driven series manipulator are carried out.In order to better analyze the manipulator,firstly,according to the structural characteristics of the five-axis manipulator both at home and abroad,and determine the scheme of five-axis manipulator model.Solidworks is used to build the model of the manipulator,and the model is designed as the ontology,the control system is installed and the experiment platform is built.Then,kinematics and dynamics analysis are carried out for the five dof manipulator.Based on the D-H coordinate system,the coordinates of the 5Rmanipulator are modeled and the parameters of the connecting rod are determined.According to the obtained kinematics equation to complete the forward and inverse calculation.The multi-solution problem of the 5-DOF manipulator is classified and discussed,and get reasonable solution.The kinetic equations of the five-degree-of-freedom manipulator are validated and simulated based on the matlab software.The dynamic equations and the three-dimensional model are introduced into the matlab.In the compiling environment of visaul studio,the 3D visual simulation software of 5-DOF manipulator is written by using OpenGL technology to realize the simulation system of 5-DOF manipulator with real-time maneuverability.According to the solution of position inversion solution,the inverse kinematics algorithm of the manipulator is used to control the movement of the manipulator model and finally achieve the real-time animation function.At the end of this paper,the end trajectory interpolation of the manipulator is studied.The traditional method does not consider the change of the end-axis vector,so the end position cannot be effective and accurate control.In this paper,a double NURBS curve is used to control the end pose,and the trajectory planning is carried out by asymmetric S-shaped deceleration control method.The algorithm can solve the problem that the end control precision is not high enough and the control process is complex,and it can avoid the problem of excessive vibration when the acceleration is too large.Simulation results show that the algorithm is simple,efficient and stable,and it can effectively improve the efficiency and precision of machining the workpiece.