| According to the Development Research Policy of the National Fifteen plan,the structure of the existing six link industrial manipulator is classified and studied,and some problems related to the structure of the existing six link industrial manipulator are summarized,in view of the existing problems,a design scheme of structural optimization of the six-link industrial manipulator is proposed,that is,an integrated six-link industrial manipulator is optimized by using the modularization concept.The six-link industrial manipulator can accomplish the corresponding tasks with high quality,and the accuracy and accuracy of the manipulator can be improved through the system optimization device,thus,the optimal solution of the six-link industrial manipulator is obtained in different working environment,and finally,the UG model is introduced into Adams,and then the software is programmed and optimized to simulate the whole working process after optimization.In this paper,the optimization of six-link industrial manipulator mechanism is mainly done in the following aspects:First,this paper firstly analyzes and studies the six-link industrial manipulators which are outstanding at home and abroad,and briefly analyzes the advantages and disadvantages of each type of six-link industrial manipulators,in this paper,some shortcomings of each type of six-link industrial manipulator are put forward,and some current optimization conclusions are presented accordingly.At the same time,this paper also introduces the background and significance of the topic,mainly for the optimization of the topic,its content and the significance of the study.Secondly,the structure of the optimized six-link industrial manipulator is introduced in detail.This paper mainly introduces the optimization of six-link industrial manipulators under different working environment modes,and then combines the optimized results of the preset optimization of six-link industrial manipulators,the velocity and angular acceleration of the six-link industrial manipulator are optimized by the relevant structural model of the six-link industrial manipulator and the original model under the current conditions.The kinematics performance of the six-link industrial manipulator and the related requirements of the dynamics of the six-link industrial manipulator are analyzed.In this paper,the actual optimization process of the six-link industrial manipulator is analyzed,including the optimization of the kinematics and dynamics of the six-link industrial manipulator,it can be used for reference in the later modeling of the six-link industrial manipulator.Finally,the dynamics of the six-link industrial manipulator is optimized,and the results of the optimization areanalyzed.Thirdly,the optimal performance of the six-link industrial manipulator is calculated continuously.Firstly,the velocity,angular acceleration,displacement and other related information of the transmission mechanism of the six-link industrial manipulator are calculated,and the calculation verifies that it can realize the correct transmission path and should influence each other.Secondly,the kinematics and dynamics performance of the multi-link mechanism in the complex application environment is verified by the simulation analysis of the six-link industrial manipulator.Fourthly,in order to verify the optimization results of the six-link industrial manipulator,and carry out analysis and research.A comprehensive optimization analysis of the six-link industrial manipulator is carried out,this paper analyzes the influence factors of the optimization process of the six-link industrial manipulator accordin Finally,through the above analysis,the paper summarizes the research,and discusses the shortcomings and existing problems of the optimized six-link industrial manipulator,finally,the corresponding prospect of the six-link industrial manipulator is made.g to the preset motion law and other environmental factors. |
