This paper mainly focuses on kinematic and dynamic analysis based on a newly designed spatial three degree of freedom serial Grinding robot.The mechanism of this serial robot consists of three mechanical arms and rotating joints.The kinematic and dynamic equations of the serial polishing robot are derived through an improved version of the D-H modeling method and Lagrange equation.The kinematic and dynamic characteristics of the robot are briefly analyzed,and the simulation software ADAMS and Scilab are used to simulate the kinematic and dynamic characteristics of the serial polishing robot.The results show that the theory is consistent with the simulation results,verifying the correctness of the robot's kinematics and dynamics.The research results of this article will be of great significance for further analysis of the dynamic characteristics,mechanism optimization,and control system design of the series polishing robot in practical work.
维普
万方数据
