Abstract
In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of the manipulator are confirmed by D-H method, and the kinematics model of the manipulator is established. The position and direction of the end of the manipulator are deduced by using the homogeneous transformation method. Monte Carlo method is used to solve the workspace of manipulator, and MATLAB is used to draw the workspace cloud map. Set the motion trajectory of manipulator, using joint space trajectory planning, through MATLAB simulation of motion form, get the change of joint. It provides a foundation for trajectory planning, dynamics analysis, motion control and parameter optimization of manipulator.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.