Dynamic Modeling and Analysis for 6-DOF Industrial Robots

Abstract

The dynamic model of industrial robots is an important part of controllers, which affects the stability and accuracy of industrial robots. In this paper, a dynamic model for 6-degree-of-freedom (6-DOF) industrial robots is established and analyzed. Firstly, the Modified Danevit-Hartenberg (MDH) method is used to build the kinematic model of the industrial robot, and the kinematic parameters of the robot are obtained. The kinematic model is also verified in a simulation environment. Then, with the kinematic mode, the relationship between the force and acceleration of a single link is determined using Newton's equation and Euler's equation respectively. The speed and acceleration of each link are calculated by extrapolating methods. According to the method of interpolation, the force and torque equations of the joints of the industrial robot are acquired. The force and torque equations of each link of the industrial robot are obtained by internal iterations, and the dynamic equations of the industrial robot are finally obtained by sorting them out. In order to verify the derived dynamic model, a dynamic simulation environment is constructed. The positions, velocities, accelerations and driving torques of industrial robot's joints under normal working conditions are obtained by trajectory planning. Analysis of the derived data shows that the motors of each joint can meet the driving torque of the robot under normal working conditions, and the positions, velocities, accelerations of the robot are able to meet the design requirement.