Motion Modeling And Simulation Of A Five-degree-of-freedom Series Manipulator

The new generation of technological revolution,namely, the era of Industry 4.0 had been arrived, application of industrial robot was more and more extensive.Research on the basic theory of industrial robot would help to improve operating efficiencies and increase productivity. Robot kinematic, dynamics, work space, trajectory planning and control theory were the basis of the study of industrial robots. This paper presented a novel design of 5-DOF series robot manipulator, and took it as the research object, carried on the motion System system analysis and simulation.1. Applying Solidworks software to create the 3D model with 5-DOF series robot manipulator, the kinematic model of the robot manipulator was established by D-H method, the forward and inverse kinematics problem were discussed. dynamic modeling derived by the Lagrange method, calculated the torque of each joint. And the robot manipulator model was set up by the Robotics Toolbox for MATLAB, the forward and inverse kinematics calculated, and simulated visually. the simulation results verified the validity of the mathematical modeling.2. The issue of robot's work space was discussed,focusing on the solution methods for workspace, analytical and numerical methods for solving the workspace were introduced respectively,the 5-DOF robot manipulator workspace was simulated in MATLAB,to obtain the cloud of three-dimensional discrete point and projected graphics of actual workspace.3. Research on planning of Cartesian path trajectories.The interpolation algorithm of adaptive real-time look-ahead based on the NURBS curve was put forward.The interpolation speed was adjusted by contour error and normal acceleration. By means of predictor-corrector method to control interpolation error, and the speed plan was designed depend on the S-type preview acceleration and deceleration method. Taking advantage of the symmetry of the NURBS curve to forecast the deceleration point during process of the real- time interpolation, and get the feed rate and acceleration smoothly converted. Simulation results indicate that the algorithm could better accomplish adaptive interpolation motion based on the freedom curve.4. To study the effect of the flexible member to the movement accuracy,we constructed a rigid coupling model. Comparing the motion simulation results of the ideal rigid model and the rigid coupling model on the conditions of a load, the conclusions could be easily obtained: flexible member could affect the accuracy of motion. With the help of analyzing the rigidity and strength of the flexible member, the design of the connecting rod structure could be optimized effectively.5. The paper addressed control modeling, simulation and analysis of the robot manipulator. Research on virtual prototyping model and control model co-simulation method based on the ADAMS and MATLAB/Simulink,the dynamic control model of the robot manipulator was established by the computed torque method, and co-simulation with virtual prototype in ADAMS and control System in MATLAB was made.The simulation results of control model of single joint indicate that the system has good dynamic performance for step response and trajectory tracking.