Multi-Objective Optimization On Kinematic Trajectory Of 5-DOF Serial Manipulator

Robot has been widely used for industrial production, such as doing spot welding, arc welding, spray paint, transit and so on. In the field of electron, nucleus, outer space, It shows huge function. Especially in the field of automobile production, it's used more commonly. How to make industrial manipulator save more energy, run more exactly, heighten more efficiency, has became the key for researchers. This thesis makes Japanese Universal T3 as example. Movement track of manipulator was researched. Because the track is spatial curve, the optimum model was built to optimize the movement track to get the goal that we make track much shorter and manipulator run more smoothly by spatial curve's integral and slop.Manipulator's model was established by the use of PRO/E three-dimensions modeling software and Japanese Universal T3 Manipulator's geometry and movement principle in this thesis. In the same time, coordinate systems were set up for the manipulator's linkages by the use of Denavit-Hartenberg, then it's structure parameters and joint variables were determinated. Each linkage's homogeneous transformation matrix and joint variable values in the key point were obtained by the application of the robot's inverse kinematic equation. Optimized function's design variables were gained by the use of three times polynomial for the joint's trajectory planning. The end actuator's spatial position function was solved, manipulator's goal function was established by the use of integral theory of the spatial curved. Then the convergent result was obtained by the application of MATLAB software's optimization function to solve. Finally, manipulator's motion simulation was done by the use of Pro/Mechanism module, then gain robot's trajectory and the joint's displacement, velocity, acceleration, it offers lots of data for robot's analysis.It achieved the two goals that manipulator runs smoothly and it's spatial trajectory is shortest by optimization on 5-DOF serial manipulator, validated the result is right doing optimization on manipulator's motion state, so it expanded the optimum theory and provided theoretical and practical basis for robot's design and application.