Kinematics analysis and Simulation of five axis groove cutting robot based on MATLAB

Abstract:

In this paper, a new type of five axis groove cutting robot based on machine vision is designed to meet the reaquirements of the groove cutting operation of flat steel. First, the SOILDWORKS model of five axis groove cutting robot is established to verify whether the design of the robot mechanical body can meet the working requirements. Secondly, the DH parameter table and DH coordinate diagram of the robot is defined according to the SOILDWORKS model. Then, the forward kinematics and inverse kinematics of the robot are analyzed through the homogeneous transformation of the robot, and the rationality analysis of the robot structure is conducted from a numerical point of view.Finally, by using MATLAB software, the kinematics modeling and Simulation of the robot is carried out in this paper. The kinematics simulation of the robot is mainly divided into three parts which are the static model simulation of the robot, the motion space simulation and the motion simulation of robot end effector under different path planning. The simulation results of the designed robots in this paper demonstrates the feasibility of the robot mechanical structure design, which provides theoretical support for the design of robot control system and control algorithm.

Key words:Five axis robot; Kinematics analysis; Simulation