Analysis and simulation of kinematics of 5-DOF nuclear power station robot manipulator
Chunchao Chen, Jinsong Li, Jun Luo, Shaorong Xie, Huayan Pu, Ze Cui, Jason Gu, IEEE International Conference on Robotics and Biomimetics (ROBIO), December 2014, pp 2025-2030.
Abstract
To analyze kinematic characteristics of the 5-DOF nuclear robot, the forward kinematics equations are established through Denavit-Hartenberg (D-H) method. The working space of robot is drawn out in Matlab according to Monte Carlo method and the inverse kinematic equations are established through the Paul's inverse transforms. In view of the missing solutions and redundant solutions that may appear in the process of solution for inverse kinematics equations, the paper describes different treatments. In order to test the kinematic model of manipulator, the test procedures are designed and there is a simulation for door-open planning based on the forward and inverse kinematics in a multibody dynamics simulation software RecurDyn to monitor the motion of the manipulator. The simulation experiments in this paper verify the rationality of motion algorithm and link design parameters, and provide a reliable basis for the study of dynamics, control and planning of robot.
How Multibody Dynamics Simulation Technology is Used
Through a co-simulation between MATLAB and RecurDyn the problem of opening a door with a robot can be simulated and optimized. RecurDyn was able to analyze the dynamics of the robot during this control sequence. The control algorithm could then be improved to provide smoother motion.
Get This Paper
Related Case Studies
- Parameter study on the grasping characteristics of the humanoid robot hand with spherical four bar linkages
- Multidisciplinary parametric design and evaluation of six degrees of freedom mechanical arm
- Research on Simulation of Motion Compensation for Omnidirectional Platform Based on Neural Network
- Optimal Control of passive Locking Mechanism for Battery Exchange Using Pontryagin's minium principle
