Kinematics Simulation and Static Analysis of Six-axis Welding Robot
The D-H parameters of an E03 series six-axis welding robot conforming to Pieper criteria were determined by SDH(Standard-Denavit-Hartenberg)method and a DH model was created.The solution of kinematics and statics analysis is carried out based on Tool-box and Simulation in MATLAB and Soildworks.The forward and inverse kinemat-ics were deduced,and the expression and solution forms were used by homogeneous trans-formation matrix and analytic method respectively,and the kinematics modeling of the robot was verified.Cartesian space planning and linear optimization of joint space with parabola are adopted for the trajectory of the manipulator,and good performance of the motion curve is obtained after optimization.The experiment completed the work space analysis and solution of the mechanical arm under the statics analysis and limitation method,the overall experi-ment guaranteed and improved the working performance of the mechanical arm,laid a theo-retical foundation for the subsequent practical work and development of the mechanical arm,and had practical application value for the same series or configuration of the mechanical arm.
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