| Robots are playing a more and more important role in the field of industry as one kind of modern tools to replace manpower in industrial production.The high movement speed and the large load capacity of traditional robots make a contribution to increasing throughput in the mass production.But under many special conditions,in order to realize the cooperation of robots and human beings and satisfy the changeable and miniature manufacture requirements,flexibility instead of speed of robots becomes more significant.Therefore,to meet the needs of intelligent manufacturing industries in the future,it is profoundly effective and significant on society to make research of a kind of lightweight modular collaborative robots which are adaptable,flexible and agile and have a high load-weight ratio and low manufacture cost.This subject mainly analyzes the structure,kinematics and dynamics of this kind of nonorthogonal robots.Kinematics analysis is the basis of the control of robots.The direct and inverse kinematics of the collaborative robot are obtained according to its special geometry and the D-H notations.A method of choosing the best solution from the multiple inverse solutions is presented and the inverse solutions are verified in SolidWorks.The singularity and workspace are important parameters indexes for using robots.Owing to the analysis of the robotics structure and its Jacobian matrix,the singularity of the robot is analyzed.And the workspace of the robot is solved by Monte Carlo numerical methods combined with MATLAB programming drawing ability.Dynamics simulation can help to analyze the dynamic performance of the robot.The performance of the robot are studied under different movement modes and different loads through the method of mathematical analysis and ADAMS simulation analysis.At the same time,it helps to verify the selection of motors and reducers. |
