Research on Robot Technology with Fewer Degree of Free for Detecting and Sorting Station

Abstract

In the process of automation and intelligent upgrading of manufacturing production lines in China, the application demand of lightweight robots with fewer degrees of free(DOF) in detecting and sorting stations has increased sharply. This paper takes the robot of the ligature box detecting and sorting station as the research object, analyzes the demand of the station for the robot, designs the 3-DOF lightweight robot arm based on this, adopts the homogeneous coordinates transformation analysis method, simplifies the way of establishing the coordinate system from the perspective of structure, determines the D-H parameters, and analyzes the forward and inverse kinematics of the robot arm; According to the designed structure, the geometric method is applied to solve the $\theta$ 1, and according to the results of the forward kinematics, the analytical solution is used to solve the $\theta$ 2 & $\theta$ 3; Finally, workspace and kinematics parameters are studied in MATLAB. The results show that the designed robotic arm meets the requirements for detecting and sorting workspace.