Research On Modeling And Trajectory Planning Of Six Degree Freedom Industrial Robot

With the continuous development of factory automation and the popularization of industrial robot technology,industrial robots are widely used in automobile manufacturing,handling and spraying industries because of their high efficiency and high quality.For the welding industry,welding robots are widely used for achieving high welding process requirements.This paper studies the kinematics,trajectory planning and dynamics of the six degree of freedom industrial robot based on the SA1400 type welding robot.The main contents of this paper as follows:(1)Firstly,the kinematics theory of the six degree of freedom industrial robot is studied,and the position and attitude of the rigid body in the three-dimensional space are described,and the corresponding homogeneous transformation matrix is set up to express the translation and rotation transformation in the space.According to the D-H representation,the homogeneous transformation matrix between adjacent connecting rods is obtained.Through homogeneous transformation matrix,the spatial position and orientation relationship between each link of industrial robot is mathematically deggscribed.(2)Secondly,the D-H parameter table is obtained from the mechanical structure parameters of the six degree of freedom industrial robot,and the positive kinematics model of the six degree of freedom industrial robot is derived according to the homogeneous transformation matrix between the connecting rod coordinate system.Based on the forward kinematics model,8 groups of inverse kinematics solutions are derived by analytical method.In the Robotics Toolbox robot toolbox of Matlab,the visual model of industrial robot is set up.The correctness of the proposed inverse kinematics model is verified by using the positive kinematics function fkine in the toolbox and the inverse kinematics function ikine.On the basis of obtaining the right forward kinematics model,according to the angle limit of each joint axis,the numerical method is applied to get the workspace of the end of industrial robot.(3)We studied the trajectory planning algorithm of six DOF industrial robot,including joint space trajectory planning and Descartes space trajectory planning.In the trajectory planning of joint space,a smooth continuous angle interpolation function is derived according to different motion constraints.In the Cartesian space,the linear trajectory planning and the arc trajectory planning algorithm are studied.The interpolation algorithm is realized in the Matlab language environment,and the planning effect of different interpolation methods is compared.(4)Finally,the mechanical analysis of six degree of freedom industrial robot is carried out.The Lagrange method is used to deduce the dynamic equation of the manipulator.The 3D solid model of robot arm in Solidworks software is introduced into the dynamics analysis software Adams,and a simplified model is established.Through data transformation,the interpolation angle data obtained in Matlab is imported into Adams for simulation.It can be divided into two cases: load and no load.The dynamic simulation of the manipulator is carried out,and the torque curves of each shaft are finally obtained.Generally,the kinematics,trajectory planning and dynamics of the six degree of freedom industrial robot are studied.The planning of the desired trajectory of Cartesian space is completed and a smooth and continuous angle function is planned in the joint space.Finally,the dynamic simulation of the industrial robot is carried out.It lays the foundation for the development of industrial robot control system,and is of great significance for the development and application of industrial robots.