Research On The Mechanism Analysis And Trajectory Planning Of GSKRB20 Industrial Mechanical Arm

With the continuous development of current technology and intelligent manufacturing,the mechanical arm has gradually evolved into an indispensable execution tool in traditional industries.The mechanical arm has a series of obvious advantages,for example,it can not only replace people to realize the modernization and automation of production and carry out some repetitive heavy work,but also work in some harmful environments to avoid casualties.Therefore,it is of great practical significance to conduct the applied research related to various mechanical arms.With GSKRB20 industrial mechanical arm as the research object,this paper systematically researches the mechanical arm's mechanism(kinematics and dynamics)characteristics.Meanwhile,aiming at the problems of discontinuous acceleration and large impact in traditional trajectory planning methods,this paper proposes a new trajectory planning method based on combination function.Furthermore,the mechanical characteristics(kinematics and dynamics)of the mechanical arm and the newly planned trajectory are simulated and verified.This paper mainly includes the following specific contents:(1)With adopting the Denavit and Hartenberg method(D-H method),this paper conducted the kinematics analysis of GSKRB20-type 6 DOF mechanical arm and established the coordinate system of links,thus obtaining the kinematics equation.Furthermore,the kinematics equations of mechanical arm were simulated and verified by Matlab robot toolbox.(2)With using the principle of homogeneous transformation matrix,this paper deduced the Jacobian matrix of mechanical arm on the basis of establishing the dynamic equation of mechanical arm,and obtained the motion parameters of mechanical arm and the relationship between the stress of various joints,thereby acquiring the output torque of each joint required by mechanical arm to reach the running state.At the same time,according to Lagrange equation,the dynamic equation of mechanical arm was calculated in this paper,and the dynamic model of mechanical arm was verified by the Matlab robot toolbox.(3)This paper presented an in-depth study of the trajectory planning of mechanical arm.On this basis,by analyzing the traditional trajectory planning methods,this paper proposed a trajectory planning method based on sine and cosine combination function,and programmed the trajectory planning method in Matlab,as well as carried out relevant simulation analysis.(4)On the one hand,this paper used Simscape to carry out kinematics simulation,and established the connection between Solidworks and Matlab through plug-in,thus transforming the 3D model of mechanical arm into Simscape physical simulation model.On the other hand,the effectiveness of trajectory planning algorithm based on sine and cosine combination function was verified by the Simscape simulation model.(5)This paper used Adams to carry out dynamic simulation with importing the 3D model into Adams.Meanwhile,with using the angular displacement parameters obtained from the trajectory planning of combined functions in Matlab,this paper conducted the dynamic simulation of mechanical arm by Adams,further verifying the correctness of the dynamic model.