Kinematics Analysis and Modelling Based on 4 DOF Industrial Robot

摘要

Abstract With the rapid progress of science and technology, industrial manufacturing and processing technology have also developed rapidly. Industrial robots are widely used in many industrial fields. In this paper, based on the familiarity with the structure and principle of the 4 DOF industrial robot, combined with the virtual simulation platform, the kinematics analysis, modelling, and simulation of the 4 DOF industrial robot are studied. Firstly, the structure of the 4 DOF industrial robot is analyzed, the coordinate transformation is studied, and the coordinate transformation simulation is designed. Secondly, D-H parameter modeling and modelling simulation are achievements. Finally, the kinematic analysis and modeling are completed, and some research results are obtained.