Kinematical Analysis and Simulation of High-Speed Plate Carrying Manipulator Based on Matlab

Ke Wang, Jiping Zhou

School of Mechanical Engineering, University of Yangzhou, Yangzhou, China.

DOI: 10.4236/eng.2012.412108                

Abstract

In order to construct the more effective kinematics method for industry, by taking a high-speed plate handing robot as an example, the structure and parameters of the robot linkages are analyzed, and the standard Denavit-Hartenberg method is applied to establish the coordinates and the kinematic equation of the linkages. Depending on the graphics and matrix calculation ability of Matlab especially including the Robotics Toolbox, the handling robot has been modeled and its kinematics, inverse kinematics and the trajectory planning have been simulated. Therefore, the correctness of kinematic equation has been verified, meanwhile, the functions of displacement, velocity, acceleration and trajectory of all the joints are also obtained. In a further step, this has verified the validity of all the structure parameters and pro- vided a reliable basis for the theoretical research on the design, dynamics analysis and trajectory planning of the ma- nipulator control system.

Keywords

High-Speed Plate Carrying Manipulator; D-H Method; Robotics Toolbox; Trajectory Planning

Conflicts of Interest

The authors declare no conflicts of interest.

References

[1]	Q. Wang, X. J. Hu and L. Z. Li, “The Kinematic Analysis and Simulation of the Humanoid Welding Manipulator Based on the MATLAB,” Materials Science and Engineering College of Hefei University of Technology, 2011.
[2]	J. J. Craig, “Introduction to Robotics,” Mechanical Industry Press, Beijing, 2006.
[3]	P. I. Corke, “A Robotics Toolbox for MATLAB,” IEEE Robotics and Automation Magazine, Vol. 3, No. 1, 1996, pp. 24-32. doi:10.1109/100.486658
[4]	X. S. Jiang, “Introduction to Robotics,” Liaoning Science and Technology Press, Shenyang, 1994.
[5]	Z. X. Cai, “The Robotics,” Tsinghua University Press, Beijing, 2000.
[6]	J. X. Luo and G. Q. Hu, “The Kinematic Simulation Research of Robot Based on the MATLAB,” Journal of Xiamen University, JCR Science Edition, Vol. 44, No. 5, 2005, pp. 640-644.
[7]	J. Han and L. Hao, “Trajectory Planning and Simulation of Robot in Joint Coordinate System,” Journal of Nanjing University of Science and Technology, Vol. 24, No. 6, 2000, pp. 540-543.
[8]	Z. X. Wang and W. X. Fan, “The Kinematics Analysis and Simulation of Industrial Robot Based on the Matlab,” Mechanical and Electrical Engineering, Vol. 29, No. 1, 2012, pp. 33-37.
[9]	The MathWorks Inc., “Matlab the Language of Technical Computing Version 6,” The MathWorks Inc., 2002.
[10]	P. I. Corke, “Robotics Toolbox for Matlab (Release 7.1) [EB/OL],” 2002. http://www.cat.csiro.au/cmst/staff/pic/robot