Structural Design And Trajectory Planning Of Six Axis Industrial Manipulator

With the rapid development of science and technology,the emergence of the German industry 4 and Made in China 2025 emphasized the development of industry.In the 2025 plan of China made manufacturing,In the 2025 plan of manufacturing in China,the emphasis is placed on developing high grade CNC machine tools,manipulator and high-tech ships,advanced rail transportation equipment and agricultural machinery and equipment.Improving the level of the manufacturing industry.Countries in the world are gradually starting to study the related technology of robotic arm in industrial environment.The six axis industrial manipulator is widely used in manufacturing industry due to its strong handling capability,flexible movement and good control of teleoperation.This paper introduces the characteristics of six axis manipulator in industrial environment,expand the corresponding research for six axis manipulator structure in industrial environment,the main structure design of manipulator and movement,each joint kinematics analysis is solved and the inverse kinematics solution of motion,simulation analysis and trajectory planning;in order to better development meet the future industry,improve the level of automation in industrial production,better adapt to the use of the mechanical arms of different complex work environment.First,this paper introduces the mechanical arm,introduces the composition and classification of the six axis industrial arm and compares the advantages and disadvantages of various types of manipulator.It introduces the background and the significance of the research on the subject of the six axis industrial manipulator,based on the application of the six axis industrial arm,the modeling of the reachable space around the six axis industrial arm is carried out.Modeling uses the three-dimensional software SolidWorks to complete the modeling process of the six axis industrial manipulator,and design the manipulator.Then,the six axis industrial manipulator is modeled by the coordinate system.The D-H parameter method is used to solve the forward kinematics solution and the inverse kinematics solution based on the established coordinate system.The MATLAB Robotics toolbox is used to establish the relationship between the mechanical arm model and the working space,and the results are obtained.The angles,velocities and acceleration curves of each joint are analyzed.Finally,the dynamics of the six axis industrial manipulator is simulated to verify the motion trajectory of the six axis industrial arm and whether the kinematics is reliable and safe,and the joint space transformation function between the two angles is fitted through the five polynomial interpolation function,and is used as the driving to simulate the ADAMS.The planning and verification of the operation trajectory of the six axis industrial manipulator are completed.