Design And Research Of Six-axis Manipulator Motion Simulation Platform

China is a large electroforming country,due to the unbalance development,there are many small and medium enterprises still in the electroforming environment of manual operation,which rely on the labor to hand and flip electroforming substrate and lead to low efficiency.Therefore,it is very urgent to design a manipulator for improving the plating efficiency.The traditional method of design manipulator is to make a physical prototype first,and to improve the physical prototype by testing the performance of the manipulator continuously,which lead to high cost and long period.So,it is important to simulate the motion of manipulator before manufacturing a physical prototype,and the performance of the manipulator is analyzed and improved according to the simulation results for designing the mechanical arm to meet the performance requirements.In this paper,the motion control simulation of six-axis manipulator is analyzed and studied in detail according to the electroplating process.First,for the problem of low precision because of direct calculation,and the problem that adjustment of arm joint angle easily exceeds its range of motion during the simulation process,the MATLAB GUI manipulator simulation platform is proposed to analysis the kinematic simulation and the motion space,plan the trajectory of manipulator.The platform uses a modular function call form to avoid the direct calculation of substitution,thereby improving the accuracy of manipulator simulation.In addition,the platform sets the controls with controlling the range of motion for each joint of the manipulator,which could set the actual motion range for each joint interval.At the same time,the platform has a certain versatility and we can simulate and analyze other six-axis manipulator only need to change corresponding parameters.Second,for the problem that the mathematical model of the manipulator is very complicate d when control the movement of the manipulator,the Simulink and ADAMS co-simulatio n plalform is proposed,which is a good observation of whether the manipulator could finis h the task well.The platform first uses Simulink to establish the manipulator control part,and takes the result of MATLAB GUI simulation platform as the input of Simulink control part.Then Solid Works is used to build the physical model of the robot arm,the mechanical part of the robot is established by importing it into ADAMS to add quality for theconnecting rod of the manipulator,and set restraints and drivers for each joint.Finally,the co-simulation platform is used to simulate the electroplating process.The experimental results show that the platform can finish the plating task well.