Research On Motion Simulation And Trajectory Planning Of Industrial Robot

Industrial robot technology is closely related to the level of industrial automation,and with the continuous improvement of the degree of automation,the industrial robot technology in the field of manufacturing and other fields is more and more widely used.Depending on the workplace,the structures of industrial robots are also very different and the correct structures can improve the accuracy and flexibility of the robot.The kinematics of robot is to study the relative position and the relative motion of each link and joint.Robot trajectory planning is to describe the task description of the staff into a detailed description of the trajectory.Only the correct structure and motion simulation and complete trajectory planning can make the robot finish the task successfully.Firstly,according to the work requirements and the technical parameters,the paper have completed the preliminary design of the industrial structure of six joints robot and establish the model and designed the main components of the robot.Then according to material requirements,the research determines the main components of the use of materials.After the completion of the design of the structure and materials,the paper combines with finite element method to check the strength of the arms of the robot.Then the paper also designs the drive system and the transimission mechanism.Secondly,the kinematics of the robot is studied in this paper.In kinematics,D-H theory is the basis for the derivation of kinematic equations,so the study begins with the D-H theory and establishs the D-H coordinate system of robot and deduce the kinematics equation.The positive and inverse solutions and the Jacobian matrix are calculated.Workspace is an important indicator to measure the performance of the robot,so the research describes the working space of the robot and uses the software to simulate it and get the 3D point clouds.At last,the two cases of robot kinematics are simulated and compared.Finally,the trajectory planning of the robot is studied and the concepts of trajectory and paths are described.Trajectory planning can be divided into two categories: joint space and cartesian space.Therefore,the trajectory interpolation method is studied in two cases.At last,the paper simulates the cubic polynomial and the quintic polynomial and compares the advantages and disadvantages of the two.