Taking the serial joint robot as the research object,the robot kinematics model of D-H method is established according to the robot structural parameters to derive the robot kinematics equation.The dynamic simulation analysis of the robot is carried out using ADAMS software,the data of the driving torque of each joint changes with time is calculated,and the maximum dynamic load of each joint calculated by dynamics is taken as the mechanical condition of the robot structural design and finite element calculation to conduct finite element simulation analysis on robot casting.With the establishment of experimental platform,the robot's position repeatability,posture repeatability,repetitive positioning accuracy,position stability time and position overshoot are tested,an their experimental data are sorted out and analyzed.The simulation calculation and experimental results verify that the robot design is reasonable and meets the index requirements as designed.
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