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Kinematical Analysis and Simulation of High-Speed Plate Carrying Manipulator Based on Matlab

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DOI: 10.4236/eng.2012.412108    4,374 Downloads   6,302 Views   Citations
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Ke Wang, Jiping Zhou

Affiliation(s)

School of Mechanical Engineering, University of Yangzhou, Yangzhou, China.

ABSTRACT

In order to construct the more effective kinematics method for industry, by taking a high-speed plate handing robot as an example, the structure and parameters of the robot linkages are analyzed, and the standard Denavit-Hartenberg method is applied to establish the coordinates and the kinematic equation of the linkages. Depending on the graphics and matrix calculation ability of Matlab especially including the Robotics Toolbox, the handling robot has been modeled and its kinematics, inverse kinematics and the trajectory planning have been simulated. Therefore, the correctness of kinematic equation has been verified, meanwhile, the functions of displacement, velocity, acceleration and trajectory of all the joints are also obtained. In a further step, this has verified the validity of all the structure parameters and pro- vided a reliable basis for the theoretical research on the design, dynamics analysis and trajectory planning of the ma- nipulator control system.

KEYWORDS

High-Speed Plate Carrying Manipulator; D-H Method; Robotics Toolbox; Trajectory Planning

Cite this paper

K. Wang and J. Zhou, "Kinematical Analysis and Simulation of High-Speed Plate Carrying Manipulator Based on Matlab," Engineering, Vol. 4 No. 12, 2012, pp. 850-856. doi: 10.4236/eng.2012.412108.

Conflicts of Interest

The authors declare no conflicts of interest.

References

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