Abstract
The study of kinematics modeling and simulation of industrial robots is the basis of robot development and optimization. According to the configuration characteristics of a moving robot, the coordinate system and the kinematics equation of the connecting rod are established based on the DH coordinate transformation method. The kinematics positive solution problem is solved in detail. The moving robot is established by the joint simulation of Solid works and ADAMS The motion model of the moving robot is verified by the kinematic analysis, and the displacement and angle curve of the end point are obtained. The rationality of the kinematics model of the moving robot is verified. The trajectory planning of the moving robot is carried out according to the actual situation, the results show that the moving robot is running smoothly and meets the requirements, which provides an important basis for the subsequent control research.
Highlights
With the continuous improvement of production automation, the study of industrial robots is constantly deepening
ADAMS is a simulation software based on multibody dynamics [3, 4], the use of ADAMS can intuitively see the movement process, and get the corresponding displacement, velocity and acceleration curve, so the robot kinematics, kinetics analysis
A six-axle handling robot is designed, which consists of base, waist, arm, arm, wrist and pneumatic fixture
Summary
With the continuous improvement of production automation, the study of industrial robots is constantly deepening. Zhu Hongbing [1] and others using ADAMS on a six-degree-of-freedom industrial robot simulation analysis, to obtain its displacement and velocity curve, verify the rationality of the movement model created; Zhang Baocheng [2] and others using numerical analysis software Matlab Stanford robot is used to simulate the object. Based on the kinematics of the robot, the joint displacement, velocity and acceleration curve are analyzed, and the rationality of the kinematic model is verified. ADAMS is a simulation software based on multibody dynamics [3, 4], the use of ADAMS can intuitively see the movement process, and get the corresponding displacement, velocity and acceleration curve, so the robot kinematics, kinetics analysis. Combined with Solid works and ADAMS to simulate the moving robot, and verify the correctness of the kinematic model. Which provides the data basis for the debugging of the six-DOF handling robot entity in practical use, and protects the handling robot to a certain extent
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