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Vol. 176, Issue 8, August 2014, pp. 285-289




Kinematics Analysis and Simulation on Transfer Robot
with Six Degrees of Freedom

1 Yi Lu, 2 Dan Liu

1 Jiangsu Jianzhu Institute, Xuzhou, Jiangsu, 221116, China
2 Xuzhou Coal Mining Group, 221000, China
1 Tel.: 051683889081, fax: 051683889081

1 E-mail: jyjdxy@126.com


Received: 20 May 2014 /Accepted: 31 July 2014 /Published: 31 August 2014

Digital Sensors and Sensor Sysstems


Abstract: Study focuses on transfer robot with Six Degrees of Freedom, establishing kinematic equation by D-H method, analyzing forward kinematics and obtaining inverse kinematics by using method of inverse transform. Based on vector product, it develops velocity Jacobian matrix of robot. The geometric model of robot virtual prototype is established by SolidWorks software and generates parameters such as mass and moment. Kinematic simulation for robot is performed by Mathematica software and develops curve graph of displacement, velocity and accelerated speed in x, y and z direction in end executor center of robot with measurement, analysis and assessment, which provides foundation for further kinematics analysis and structure optimization as well as motion control of robot.


Keywords: Transfer robot, Kinematics, Simulation, Optimization, SolidWorks, Mathematica.


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