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Numerical Simulation and Space Motion Trajectory Analysis of 6R Serial Manipulators

WANG Lijun, ZHOU Jianbin, XING Long, ZHANG Shenfeng

Abstract


This paper generally focuses on the study of Kinematics analysis and simulation of six degree of freedom rotational joint(6R) manipulator. To solve positive and inverse kinematics problems, manipulator D-H mathematical model is established. For 6R manipulator to achieve the desired trajectory, this paper strives to provide and prove a general elliptic curve in the space to the end of the manipulator’s trajectory. By applying this method, we can extrapolate, at the end of the manipulator can reach within the scope of those of more complex curve, moreover, we can identify the arbitrary trajectories in any given situations as well. For 6R manipulator trajectory planning, the authors choose to put into use the cubic polynomial interpolation method in the joint space trajectory planning. This paper makes a simulation effort on 6R manipulator movement by using Adams, and got the expected results, which verifies the correctness of this method.

Keywords


6R serial manipulators, kinematics analysis, trajectory planning, numerical simulation.

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