The Motion Trajectory Planning And Simulation Of 6R Industrial Robot

As robots technology is more and more mature,the enterprise manufacturers more and more widely use robot to complete the task.Due to the Six-degree robot's large working space,the flexible activities and compact structure,it is widely used in industrial production,it is the most widely used in the manufacture of robots.Because of the many advantages of joint type robot,this paper designs and analyses a articulated robot loaded 6Kg.First of all,the paper analyzes the commonly used several types of robot,and choose the articulated robot to design,then to design the structure of each joint,and establish the 3d model diagram,it can make the overall structure of the robot more intuitive;The robot want to realize movement,it has to firstly design its driving system,thus,according to the experience,and other robot prototype,the selection of motor and reducer to industrial robot is selected;Analysing the industrial robot's kinematics analysis,establishing the kinematics equation and D-H parameter,and using Matlab Robotics toolbox to simulate the kinematics of the robot.Secondly,using Matlab robotics toolbox to plan the trajectory of the robot,and to simulate the trajectory.Robot trajectory planning is divided into two kinds: joint space trajectory planning and cartesian space trajectory planning,they are studied respectively,and be compared the advantages and disadvantages of the two,finally the paper choose the joint space trajectory planning;Using Matlab Robotics toolbox to simulate the trajectory of the robot,and the curve of angular displacement,velocity and acceleration are made,the curve is smooth with no mutations,it validate the rationality of the design of the robot.Finally,the paper introducts the RBF neural network structure,and studies the RBF neural network;Due to the RBF neural network's scale workspace,fast learning speed,thecharacteristics of the function approximation fitting function optimization,it is applied to the joint type robot trajectory planning,and combined with the powerful features of the matlab toolbox,the trajectory of the robot is simulated.We get the smooth angular displacement curve,the curve of angular displacement for neural networks is smooth,it is consistent with the curve of the trajectory planning.they are all proves the rationality of the design furtherly.