Abstract
This research discusses the workspace of the industrial robot with six degrees of freedom(6-DOF) based on AutoCAD platform. Based on the analysis of the overall configuration of the robot, this research establishes the kinematic mathematical model of the industrial robot by using DH parameters, and then solves the workspace of the robot consequently. In the AutoCAD, Auto Lisp language program is adopted to simulate the two-dimensional(2D) and three-dimensional(3D) space of the robot. Software user interface is written by using the dialog box control language of Visual LISP. At last, the research analyzes the trend of the shape and direction of the workspace when the length and angle range of the robot are changed. This research lays the foundation for the design, control and planning of industrial robots.
Highlights
At present, researches from China and abroad on the workspace of industrial robots have made some achievements [1,2,3,4]
Tian Haibo [9] et al analyze manipulator's workspace by using Monte Carlo method and brings adaptive-divided mesh method to calculate the volume of workspace
Because of the simplicity of Visual LISP language syntax, the user can directly call the AutoCAD to draw through commends, and debug and check
Summary
Researches from China and abroad on the workspace of industrial robots have made some achievements [1,2,3,4]. The study of workspace of robot is inclined to use Monte Carlo method [5,6,7]. Yi Jun [10]et al develop dynamic simulation system of robot based on AutoCAD In this research, robot kinematics model by DH parameter method is improved, using Auto Lisp programming language to achieve six-degrees-of-freedom industrial robot workspace simulation. The influence of structure parameters on the shape and position of workspace and position is analyzed. This method provides a powerful help for the design and research of industrial robot
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