SN-2型6自由度机械臂的建模与仿真

Modeling and simulation of the SN-2 type 6 degree of freedomrobotic armAbstract:the 6-DOF sn-2 manipulator is one of the mechanisms commonly used andwidely used in modern robots.It is of great significance to deeply study its workingmechanism.The control system of the complete manipulator is divided into four main parts:mechanical components,electrical hardware,software program and logic calculation.Allparts are closely connected,so each component must cooperate with each other whendesigning,so as to ensure the smooth operation of the system.This paper mainly studies thefollowing aspects:firstly,according to the principle that the manipulator needs at least sixdegrees of freedom to clamp any displacement in space,the six degrees of freedom linksynovial joint structure is selected.And carefully searched the relevant papers on mechanicaldesign at home and abroad to clarify the specific mechanical mechanism.Using therelationship between the size and mass of each member and statics,the dynamic situation ofeach synovial joint is analyzed.According to the basic structure of the automatic balancingrobot,the basic structure method of balancing the whole manipulator is designed,and the partselection and design process of each part are analyzed.Secondly,try to realize the kinematicsand path design of the manipulator.The realization of displacement,.Finally,it mainlyanalyzes the motion trajectory of each joint of the manipulator in space and the real value ofthe force on each joint.Based on the structure of 6-DOF manipulator,the test trajectory isrealized through real-time dynamic data analysis.At the same time,through the constructionof the window,the visual display of field values and graphics is completed.Keywords:SN2;Motion analysis;Robot arm;MATLAB女