Motion Trajectory Planning And Simulation Analysis Of 6-DOF Handling Robot

With the development of modern industrial automation,the demands of industrial robots are increasing in manufacturing field.In order to meet the needs of different applications and functions,structural diversification,complex kinematics and motion trajectory planning has become the development and research direction of modern industrial robots.The research takes 6-DOF industrial robot as research object,a special structure for handling robot is designed,robot kinematics and trajectory planning are researched,the application of polynomial interpolation in trajectory planning is simulated,and experiments with the industrial robot are carried out.Finally,the correctness of the simulation results is verified.the background and significance of the research is expounded,the development history and present situation of industrial robot at home and abroad are summarized,the development status of robot in kinematics and trajectory planning is studied,and the application field and development trend of industrial robot are analyzed.According to the related technical parameters and the study of the design characteristics of the 6-DOF industrial robot,the design of the main parts of the industrial robot and the preliminary design of the structure are completed,the 3D model is built by SolidWorks,and the transmission mechanism and components of the robot are studied.This paper takes the 6-DOF robot as the research object,the mathematical model is established based on robotics,position and pose description,coordinate transformation and so on,and the related equations is solved.According to the D-H modeling method,the D-H method is used to model the robot.The kinematics equation is derived and solved.In order to verify the correctness of the kinematics equation,the forward and inverse kinematics solutions of the robot are simulated respectively.The trajectory planning of robot is summarized,and the trajectory planning methods in right angle space and joint space are studied respectively.Matlab/robotics toolbox is used to simulate the cubic polynomial interpolation and the quintic polynomial interpolation in joint space respectively.The advantages and disadvantages of the two methods are analyzed,and theproblems of the three and five polynomial interpolation methods in trajectory planning are summarized.In view of the existing problems,the "355" hybrid polynomial interpolation algorithm is adopted to solve the problem of acceleration mutation.