Kinematic analysis and simulation of 6-DOF industrial robot capable of picking up die-casting products

Abstract

This paper describes a 6-DOF industrial robot capable of picking up die-casting products. The link coordinate system of the 6-DOF robot is established based on the D-H parameter method and the forward and inverse kinematics are discussed. ADAMS is utilized to establish a virtual prototyping and the kinematic simulation is carried out. The results show that the validity of the kinematic equations is verified.