| With the rapid development of control technology and microelectronic technology,industrial robots with the flexibility and accuracy have been widely used in many fields.Researching of industrial robot kinematics research helps to improve the performance of the robot.The finite element analysis was carried out on the robot,which helps to the robot's lightweight and reduces the cost of the robot.The robot's inverse kinematics is the basis of robot control theory,robot kinematics and robot dynamics.In this paper,two kinds of 6R serial industrial robot was researched,including the dynamics of the robot's workspace and lightweight for robot.Firstly,two 6R serial robot of kinematics model is established and the work space was analyzed based on MATLAB.The D-H method is used to establish the mathematical model of the industrial robot and equations of motion of the robot is derived by space matrix transformation.Using the robot's forward kinematics equation,in the form of a point cloud shows two kinds of robot workspace based on the monte carlo method.Through point cloud,we can compare the size of the work space and flexibility in various regions of the two robots,which lays a solid foundation for the trajectory planning and the inverse solution of robot.Secondly,the robot structure was designed by Solidworks,and then optimize and lightweight the structure.Parametric modeling and multi-objective optimization for robot based on Design Explore module of ANSYS Workbench.On the premise of the robot's quality is not up,the 6R series of industrial robot working precision is improved.Finally,we establish dynanics model of 6R serial robot by using the optimized structure in ANSYS Workbench based on mechanical dynamics simulation software ADAMS.We use ADAMS software to solve the inverse solution of 6R robots,and verify the correctness of the method. |
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