Structural Design and Kinematic Analysis of Four Joint Robot
By studying the motion configuration of SCARA robots and addressing the limitations of their motion space range,a new motion configuration of a four joint robot is designed.Linear motion is arranged from the third joint to the first joint of the robot,achieving overall up and down motion and expanding the robot's motion range.Based on the three-dimensional model coordinate system and D-H parameter method,the kinematic model of the robot is studied.By analyzing the forward and inverse kinematics of the robot,the rationality of the designed structure is verified.On this basis,the trajectory planning form of the robot's joint space is studied to verify the smoothness of the robot's operation,providing a certain theoretical basis for the subsequent prototype manufacturing.
NETL
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