Kinematics And Dynamics Simulation Analysis Of A Six-degree-of-freedom Series Robot

The era of INDUSTRIE 4.0 brings the rapid development of industrial robots.Today,industrial robots are widely used in industrial field like manufacturing,and they have become a symbol of advanced technology forces.The traditional human labor production lines are increasingly being replaced by automated production lines.The rapid development of industrial robots has contributed to the diversification of its kinematics,dynamics,trajectory planning and motion simulation analysis methods.In this paper,a six-degrees series robot,which was used as the research object,was designed.The robot coordinate system was established by D-H parameter method,and the forward kinematics problem of robot was solved according to the homogeneous transformation matrix.The inverse transform method,which used Euler angle to solve the inverse kinematics,was put forward.The results of the solutions verified the correctness of the kinematics theory of the robot.The method for kinetic analysis was studied as well.Based on the Newton equation and the Euler equation,the velocity and acceleration of the robot components and the recursive formula of the Newton-Euler dynamics were analyzed.The Lagrangian equation was used to describe the dynamics equation of the robot system,Optimized the algorithm of dynamics and the dynamic simulation was carried out in Matlab.By analyzing the results of forward and inverse dynamics of the robot simulation,it shown that the relationship between the joint force,the torque and the joint speed,the acceleration and other variables,and the torques of the robot changed with and without gravity,which provided great help to the motion control of the robot.The dynamic model of robot was established in Robotics Toolbox by using Matlab powerful modeling and simulation and GUI programming function.According to the knowledge of robot kinematics,the forward and inverse kinematics of the robot were simulated.According to the parameters such as the angular displacement,velocity and acceleration of each joint of the robot,the correctness of the kinematics of the robot and the feasibility of the robot modeling were verified.In addition,robot trajectory planning based on joint space programming and Cartesian space planning were researched,and the real-time planning of the robot's motion path was realized.Finally,the three-dimensional model of six-degrees series robot was built in Solidworks,generated the simulation model in Sim Mechanics through the plug-in connected with Matlab.According to the kinematics of the robot,a linear motion trajectory was planned for the robot,and the angular displacement signal of each joint was inputted into the Sim Mechanics simulation model.The visual simulation model interface was obtained,turning out that the motion trajectory of the simulated robot was consistent with the expected trajectory,which met the needed requirement.By establishing a physical simulation model in Sim Mechanics,the calculation,simulation and analysis were done at the same time.This new simulatio n method increased the efficiency and accuracy of motion simulation and provided the theoretical basis for the development of automated production lines.