Design And Trajectory Planning Of Six-Axis Industrial Robot Based On Simulation Technology

The six-axis robot mainly includes the mechanical body system,motion control system,sensing and feedback system,etc.This paper mainly studies the mechanical body and motion control.Firstly,the overall design objectives and specific technical indexes of industrial robots are determined according to the load conditions,so as to determine the overall design scheme.Referring to various types of robot mechanical structure and commonly used robot configuration,the joint configuration is finally selected as the six-axis robot configuration and the three-dimensional model of the robot is established by using CAD software.Then,the forward kinematics simulation of the six-axis robot is further completed by using the Robotics toolbox in MATLAB software.Given the trajectory of the robot end,and then its inverse solution,to find out the Angle change of each joint,completed the inverse kinematics simulation.After completing the forward and inverse kinematics simulation in MATLAB,in order to more intuitively see the motion of the robot model,the joint simulation of ADAMS and Simulink was carried out for the robot.Firstly,the data transmission module of ADAMS and MATLAB is built in Simulink,through which the calculation result data in MATLAB can be transmitted to ADAMS.By using this method,the forward and inverse kinematics of the robot and the dynamics of the robot under a specific trajectory are simulated.Finally,the overall structure of the robot is optimized,that is,lightweight design.Firstly,the optimization problem is determined,and two limit position conditions are defined,and the finite element model is established.Then the two different materials were optimized and compared,and it was found that the performance of plastic materials using 3D printing was better.After the material is selected,the overall structure of the robot is optimized by combining the two optimization methods of size optimization and topology optimization.According to the optimization results,the geometric reconstruction of the overall structure of the robot is carried out,and the final simulation verifies that the results meet the design requirements.Finally,the mass of the new structure of the robot is 1.337 kg,which is 0.481 kg less than that of the original model,and the weight is reduced by 26.5%,reaching the goal of lightweight design.