The Kinematics Analysis And Simulation Of Five Degrees Of Freedom Industrial Robot

With the rapid development of robot technology,the application fields of industrial robots are more and more widely.The research of industrial robots will become more and more important.Robot simulation technology is an important means to promote the development of industrial robots.In this paper,a kind of five degree of freedom industrial robot is taken as the research object,and its kinematics theory analysis and simulation research are carried out.Firstly,the mathematical basis of robot kinematics is described.This paper introduces the description of the robot's position and attitude,the homogeneous transformation and operation,as well as the D-H representation of the robot kinematics.Secondly,according to the structural dimensions of the five degree of freedom industrial robot,the robot coordinate system is established by using D-H representation.The kinematic equation of five degree of freedom robot is constructed by homogeneous transformation method.The forward kinematics equation and inverse kinematics equation of the robot are solved.The connecting rod coordinate system based on D-H representation.Using MATLAB software platform Robotics Toolbox toolbox to build the model of industrial robot.On the basis of the model,the simulation of the forward and inverse kinematics is carried out.Trajectory planning and Simulation of industrial robot.In this paper,the trajectory planning method of joint space is studied.Using MATLAB to simulate the robot for a specific point,so that it can complete the movement with a specific trajectory.In the process of trajectory planning simulation,the data of the relevant parameters in the process of motion planning is obtained.Finally,the ADAMS simulation software is introduced briefly.Because ADAMS software is difficult to build a solid three-dimensional model,the use of Solidworks platform to build the model of industrial robots and the model is simplified and the model output in Parasolid format.Import this file to the ADAMS platform,in the ADAMS/View module,set the working environment,modify the physical model,create motion constraints,complete the construction of virtual prototype.The kinematics analysis of the virtual prototype is carried out,and the curves of the displacement of the robot with time are obtained,and the curves of displacement,velocity and acceleration of each joint angle with time are obtained.Based on the data of the relevant parameters,we can get a deep understanding of the robot motion.At the same time,the curves of the displacement of the robot on the X axis,Y axis and Z axis are obtained.The curves of the curves and the displacement angles of each joint are merged into a graph.Thus,the relationship between the joint angle and the end position at any time during the simulation process can be obtained.