The Research And Simulation Of The Body Design And Trajectory Planning Of The Isotope Separation Robot

With the continuous development of robotics science and technology,robots are widely used in different fields,especially in special situations where human beings are unable to reach or dangerous.It is of great significance and practical value that robots are applied to these special limits.In this paper,based on the actual demand of enterprise production,a five degree of freedom isotope separation robot is designed and designed.The robot is used to carry out the separation of isotopes in order to avoid the harm of radioactive isotopes to human health and to improve the production efficiency of enterprises.First of all,starting from the actual production demand of the enterprise,combining the related theoretical knowledge and engineering practice experience of the robot,and referring to the mechanical structure ch aracteristics of the industrial robot at home and abroad,the structure of the isotope separation robot is analyzed and designed,and the number of functional parameters is drawn up,and the isotopic sorting machine is completed.The design of the human me chanical system.Then,based on the size of the mechanical body of the designed isotope separation robot,the kinematics of the isotope separation robot is analyzed by the standard D-H parameter method,the connecting rod coordinate system of the connecting rod of the isotope separation robot is constructed,and the mathematical model of the kinematics is established,and the inverse matrix of the left multiplicative homogeneous transformation matrix is obtained.The method of solving inverse kinematics of this five degree of freedom robot is derived.Then,the path planning method of the isotope separation robot is studied.The three polynomial and five polynomial interpolation operations are mainly studied in the joint space trajectory planning,and the linear interpolation operation in the Cartesian space trajectory planning and the transition between the line paths are discussed.Then,the spatial linear interpolation algorithm and the spatial arc interpolation algorithm are implemented,and the corresponding mathematical models are constructed,which can provide some theoretical support for the planning of the continuous path.Finally,based on the motion space of the isotope separation robot,the mathematical model of the robot is established and solved.Using the Monte Carlo method,the working space of the isotope separation robot is plotted using the Matlab software.The three polynomial interpolation and five polynomial interpolation algorithms are used in the joint space,and the trajectory planning is simulated in the Matlab software.Then,the advantages and disadvantages of the trajectory planning of the three polynomial and the five polynomial interpolation are compared and analyzed.Then,the spatial linear interpolation algorithm and space arc i nterpolation algorithm are simulated in Matlab,which can be used to analyze the rationality and feasibility of path planning,and lay a foundation for further research on the isotope separation robot.