Analysis and simulation of kinematics of 5-DOF nuclear power station robot manipulator

摘要

To analyze kinematic characteristics of the 5-DOF nuclear robot, the forward kinematics equations are established through Denavit-Hartenberg (D-H) method. The working space of robot is drawn out in Matlab according to Monte Carlo method and the inverse kinematic equations are established through the Paul's inverse transforms. In view of the missing solutions and redundant solutions that may appear in the process of solution for inverse kinematics equations, the paper describes different treatments. In order to test the kinematic model of manipulator, the test procedures are designed and there is a simulation for door-open planning based on the forward and inverse kinematics in a multibody dynamics simulation software Recurdyn to monitor the motion of the manipulator. The simulation experiments in this paper verify the rationality of motion algorithm and link design parameters, and provide a reliable basis for the study of dynamics, control and planning of robot.