Open AccessDynamic Analysis and Simulation of Six-Axis Cooperative Robot Based on Screw Theory
Author(s) -
Chengpu Zheng,
Ke Han,
Jialei Bao,
Wei Wen,
Kai Sun
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1549/4/042087
Subject(s) - robot , flexibility (engineering) , computer science , dynamic simulation , simulation , object (grammar) , control engineering , control theory (sociology) , engineering , control (management) , artificial intelligence , mathematics , statistics
In order to realize the precise control of the cooperative robot, it is necessary to establish an accurate dynamic model of the robot. Compared with traditional industrial robots, cooperative robots have joint flexibility effect, so joint flexibility should be taken into account when building dynamic model. In this paper, the six-axis cooperative robot is taken as the research object. The dynamic model of the robot is modeled and analyzed by Newton-Euler method based on screw theory. and the dynamic simulation of the robot is carried out based on Simulink and SimMechanics simulation platform, and the relevant performance curves are obtained. The simulation results verify the validity of the dynamic theoretical model.