Design And Trajectory Planning Algorithm Of 6R Robot

Industrial robot technology is a comprehensive high-technology which is uprising the multiple emerging technologies on mechanical technology.This technique plays a more and more important role in modern industry.The joint based robot has received growing attention by designers and users owing to its wider tasking area,flexibility of movement,compact construction.In this paper,the figuration of articulated robot is designed firstly,and then the robot base and rod brackets are designed,at last,the steering engine,terminal actuator and Servo Motor Controller of the articulated robot are selected from modular products.All the parts are assembled in the software UG At last,we named this robot as LG6R-1.Based on modularization,design a articulated robot which can achieve a certain assignment. In this paper,the kinematics and dynamics of the manipulator are analyzed by means of Denavit-Hartenberg method,then the kinematical and dynamic model of the manipulator are established.After the inverse kinematics of robot being solved with the pointed path and. According to this method of Cubic polynomial interpolation,Motion curve of the entire Joint angle are gained.BP neural network are applied for fitting all joint angle equation and calculated the input function Regarding time and Joint angle.At the same time the input function is applied to carry out this function on the robot trajectory planning.This arithmetic makes the fast convergence and mistake amalgamation come true and avoids the infection of the input order of the restricted point and the existence of the erratic swatch numerical value,and achieves the request of the project,all of this validates its effectiveness and feasibility.Making use of the virtual prototyping technology,the manipulator's model is founded in software ADAMS that developed for dynamics analysis of mechanical system.Furthermore,according to the planed path,the changes of the cinematic and dynamic indexes of the articulated manipulator in the course of moving are studied.