Abstract
Based on the D-H notation, kinematics model and inverse kinematics model of 6R industrial robots are established. Using graphical method, the boundary curve equations of the 6R industrial robot workspace are obtained. Based on the prescribed workspace, the D-H parameter optimization method of 6R industrial robots is proposed. Using the genetic algorithm to determine the structural dimensions of a 6R robot, we make sure that its workspace can exactly contain the prescribed workspace. This method can be used to reduce the overall size of the robot, save materials and reduce the power consumption of the robot during its work time.
Highlights
The workspace of a robot is defined as the sets of points that can be reached by the end-effecter [1], and sometimes is known as reachable space
The model of 6R robot is shown in Figure 1 which is used on a welding production line
Because the positions of 6R robot end-effecters are affected by angles of the first three joints (Joint 1, Joint 2 and Joint 3 in Figure 1), the length of the first four links (Link 1, Link 2, Link 3 and Link 4 in Figure 1) can be optimized based on the prescribed workspace
Summary
The workspace of a robot is defined as the sets of points that can be reached by the end-effecter [1], and sometimes is known as reachable space It is one of the main ways in the design and optimization processes of robots [2]. This paper, based on a prescribed workspace, presents an optimum design method of D-H parameters for a 6R robot. This method can obtain a 6R robot with a compact structure, the sum of whose links’ lengths is smallest so that the material can be saved
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