Research And Implementation Of A Modular 6DOF Manipulator Path Planning Simulation System

With the development of economy,the robot is more and more widely used in all walks of life,all the countries in the development of robot technology,the robot application environment has become more complex,in order to meet the requirements of the complex environment,the manipulator performance and trajectory planning by more and more researchers attention.In this paper,based on the construction of six degrees of freedom manipulator module on the finite element analysis and structure optimization,to improve its precision;to study the trajectory planning,impact force to reduce the movement of each joint and the mechanical wear;the collision avoidance in obstacle environment,so that they can use in a more complicated environment The main contents of this paper are as follows:(1)The modular construction of a modular six degree of freedom manipulator system.The module of mechanical arm,and the size parameters,joint module and gripper module structure features to illustrate the connection for different modules of the connection design,and complete the modular construction of six degrees of freedom,and finally in the Solidworks according to the ratio of 1:1 to establish three-dimensional model.(2)The static analysis of the modular manipulator.Finite element analysis of the mechanical arm in ANSYS,the stress and strain and displacement nephogram,according to the analysis of simulation results,find out the weak point of the manipulator,optimized simulation analysis,optimized and optimized contrast,overall manipulator can be improved.(3)Kinematic modeling and analysis of modular manipulator.The structural parameters of the manipulator using the standard D-H method is described,on the basis of the manipulator kinematics and inverse kinematics solution;3D virtual simulation platform and then combined with the design of GUI function robot toolbox and MATLAB to build an open in MATLAB;finally,in the simulation platform to verify the positive and inverse kinematics.(4)The trajectory planning and Simulation of the modular manipulator.In the joint space,three polynomial to high polynomial interpolation methods are analyzed.Finally,the "535" type interpolation method of low multiple segments is ultimately selected to get the continuous smooth joint trajectory curve.In the Cartesian space,the trajectory planning of the straight line and the arc is carried out,and it is verified in a good simulation platform.(5)Analysis and implementation of obstacle avoidance path of genetic algorithm.Analysis of the advantages and disadvantages of various algorithms,and introduces the collision detection method of ellipsoidal envelope,then the manipulator dynamics analysis of the maximum torque of each joint,in the simulation platform based on genetic algorithm of manipulator collision experiment,draw a track path to avoid obstacles.This paper realizes the optimization of robot arm structure and the simulation based on the path planning system.The experimental results show that the performance,stability and accuracy of the manipulator are improved,and the collision avoidance task can be completed.