Kinematics Analysis of a 6-DOF Industrial Robot

Abstract

Industrial robots are mostly used in the production industry these days to reduce labour costs and increase precision of operation. Many more industries are taking the benefits of these robots for their batch production. Many researches are being carried out for the improvement of design, control and interpretation of trajectory, kinematic and dynamic analysis and on many relevant fields to increase its capabilities. Kinematic analysis forms the basics of mechanical interpretation of any industrial robot as it helps engineers for further analysis like inverse kinematics and dynamic analysis. In forward kinematics end effector positions are determined from the joint angles. In inverse kinematics, calculate a sets of possible joint angles necessary for reach a particular station of known coordinate. As the inverse kinematics involves tedious and lengthy multistep mathematical calculations, till date none of the existing methods of calculation of inverse kinematics has been proved without any flaws. Hence researches are still going on by different persons in-order to develop a simpler and more accurate ways to solve the inverse kinematic problems. Therefore there is a concept about the kinematics of an industrial robot is provided to make easy the further development on industrial robot. Kinematics analysis for a 6-degree of freedom industrial robot is presented by this paper. In the kinematic analysis both the forward as well as inverse kinematic of an aristo m-tab 6-DOF robot are considered. For the forward kinematic all the homogeneous matrix of the every joint is calculated mathematically by considering the DH parameters, kinematic diagram and rotation of the joint. The co-ordinate of the end effector is obtained by multiplication of homogeneous matrix of the each joint. An analytic method is proposed for the inverse kinematic analysis. After solving the inverse kinematic equations the possible solutions are cross checked by the use of virtual robot module.