Kinematics analysis and visualization simulation of 6-DOF intelligent cooperative robot

摘要

Abstract Aiming at the kinematics analysis and visualization simulation of 6-DOF intelligent cooperative robot, Adams simulation technology is used to study it. The kinematic model of 6-DOF intelligent cooperative robot is established by using D-H parameter modeling method and virtual prototyping technology. According to the coordinate transformation, the kinematics equation of the robot is derived, and the forward kinematics solution is carried out. The visualization simulation analysis of the 6-DOF intelligent cooperative robot is realized, and the motion trajectory and limit motion space of the robot end are obtained. The simulation results of virtual prototype are within the range of the results of kinematic equation, which verifies the rationality of the kinematic equation and simulation model. The analysis method and results can provide reference for dynamics analysis and structural lightweight research of 6-DOF robot.