Kinematics And Dynamics Analysis Of A Six-degree-of-freedom Tandem Robot On The Non-pieper Criterion

With its unique benign structure and flexible control method,industrial robots have the unparalleled advantages of traditional machinery,and are widely used in all walks of life.With the continuous development of robot related technologies and application fields,the tandem robot configuration is no longer limited to satisfy the conditions of the Pieper criterion.The UR10 robot developed by U-Robot and the tandem robots of the "Shenhua Huayu" surgical robot of Shanghai Jiaotong University that don't meet the Pieper criteria have also been introduced.Although this type of tandem robot that doesn't satisfy the Pieper criterion is designed to avoid the problem that the robot end pose adjustment range is severely limited due to the traditional inline design,it is also a kinematics and dynamics algorithm.It brings problems that are difficult to solve.Because the above-mentioned type of tandem robot is unable to solve its exact analytical solution by conventional solving methods.Aiming at this problem,this paper proposes an analytical method based on the principle that the tandem robot on the Non-Pieper criterion is converted into a tandem robot that meets the Pieper criterion,and the auxiliary marking method is used as an auxiliary method.This method overcomes the problem that the six-degree-of-freedom tandem robot cannot solve the kinematics by the conventional analytical method to some extent.When selecting the redundant solution,the method of dividing the working area not only greatly reduces the original calculation amount of the kinematics of the robot,but also improves the overall calculation speed.At the same time,in order to get the robot out of reliable,continuous and accurate motion trajectory,the degradation problem of this kind of robot is also analyzed.Next,the speed analysis,static analysis and dynamics of the robot were analyzed.Velocity analysis,static analysis and dynamic analysis provide a good communication bridge for each joint driving force or driving torque and the joint motion parameters of the robot.It not only provides a reference for the movement and control of the robot,but also analyzes the dynamics of the system.Performance provides effective data support.Then,according to the kinematic equations and dynamic equations solved before,the collision problems that the robot may encounter during the operation are classified and processed.The corresponding classification processing and analysis of the robot collision problem not only helps to improve the safety and stability of the robot during the whole movement process,but also ensures that it can get out of the continuous and uniform motion trajectory.It also provides the overall design of the robot and the optimization design of the robot mechanism with a reliable theoretical basis.Subsequently,through Matlab software,the kinematics equations and dynamic equations solved in the previous paper are verified by simulation.For the kinematics equation,two coincidence kinematics are used to solve the coincidence degree of the corresponding angle value of each joint and the coincidence degree of the error result as the evidence of the rationality of the inverse kinematics method;for the dynamic equation,the kinematics given by the solution are given The constant moment of the joint is measured by the sensor to measure the angular velocity and angular acceleration of each joint,and is taken into the desired dynamic equation to determine the magnitude of the moment to verify the correctness of the equation.Finally,the paper introduces a simulation control software based on ThreeJS technology that doesn't satisfy the Pieper criterion six-degree-of-freedom tandem robot.Firstly,the basic principle of modeling the robot by ThreeJS technology is introduced.Then,based on Typescript programming,Eletron and ThreeJS technology are combined to design a three-dimensional simulation control software that doesn't satisfy the Pieper criterion six-degree-of-freedom tandem robot.The motion simulation and animation real-time control of the class robot;finally,the software's running performance is simply analyzed.