Research On Path Planning And Motion Simulation Of Industrial Robot Loading 6 Kilogram

To solve problems that robot may encounter in practical work has great influence on exhibiting the advantages of robot's automation,and it also has important significance for the research on robot's theory and application.In this dissertation,starting from practical demands of an assembling line in its implementation of automation,an industrial robot structure with load 6kg was designed.At the same time,according to the working conditions of the robot may encountered,the path planning,trajectory planning,and motion simulation were studied and discussed.Firstly,based on the work demands and parameters,an industrial robot structure with load 6kg was designed,which included the structures and arrangements of robot's wrist,arm,waist and other parts.Meanwhile,the selection calculation of the electromotor and reducer were made to satisfy the working performance.Secondly,the equations of robot's kinematics were derived by using linear algebra and D-H method,and the mathematical model of robot was built up.Then the mathematical model and workspace of robot was simulated by MATLAB.Thirdly,according to the limitation of the existing algorithms,the improved ant colony algorithm combining with the artificial potential field was put forward to complete the collision free path planning.The concept,procedure and the advantage of the new algorithm were detailed discussed.And a satisfactory result was obtained by using the new algorithm to the simulating the collision free path planning in robot's work-space.Finally,the robot's trajectory planning and motion simulation were studied and discussed.The motion of robot was divided into point-to-point motion and continuous path motion according to different work demands.Trajectory planning and motion simulation were realized in joint space of point-to-point motion.A multi-degree of freedom method was put forward to solve the problems of continuous path trajectory planning in Cartesian space,and the trajectory planning and motion simulation were completed by using ADAMS.The result showed the method can effectively obtain data of trajectory planning and it also provided a new thought for trajectory planning in Cartesian space.