Based on the analysis of the bending manipulator, this paper improves the working efficiency, instability and short service life of the traditional bending manipulator caused by the sudden change of speed and acceleration. In this paper, the size of each member of the bending manipulator is changed and the trajectory of the system is planned. The coordinate system is established by the improved D-H parameter method, and the kinematics analysis is carried out. Perform segmented trajectory planning for the bending robotic arm, using several different interpolation methods to plan and compare these trajectories. Finally, the trajectory of installing the gripper is planned using a quadratic polynomial mixed interpolation method; For the trajectory of material retrieval, the cubic polynomial interpolation method is used for planning; Use the quintic polynomial interpolation method to plan the trajectory of this segment; The bending following is planned using arc interpolation method; The cutting trajectory is planned using the quintic polynomial interpolation method. By simulating with MATLAB, a more ideal motion trajectory was obtained, which improved the stability of the bending manipulator. And use ANSYS to simulate the dynamics of rigid bodies, simulate the force situation of the bending manipulator during its movement according to the given planned trajectory, and obtain a manipulator with good mechanical performance, which improves the service life of the manipulator.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.