Kinematics analysis and simulation of a cooperative manipulator

Jidai Wang; Wenhao Wang; Aiqin Sun; Ajian Liu

doi:10.1117/12.2625426

12 December 2021 Kinematics analysis and simulation of a cooperative manipulator

Jidai Wang, Wenhao Wang, Aiqin Sun, Ajian Liu

Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121271P (2021) https://doi.org/10.1117/12.2625426
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China

Abstract

A cooperative manipulator was designed. The kinematics model was established by using the Modified-DH method, and the kinematics equation was completed. The Monte Carlo method was used to solve the robotic arm workspace, and the point cloud diagram of the robotic arm end effectors workspace was drawn. The trajectory planning simulation study of the robotic arm was carried out through Matlab, and the displacement, velocity, and acceleration change curves of each joint during the movement were drawn. The rationality of the manipulator structure design was verified, and providing guidance for the subsequent research work of the manipulator.

Citation Download Citation

Jidai Wang, Wenhao Wang, Aiqin Sun, and Ajian Liu "Kinematics analysis and simulation of a cooperative manipulator", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121271P (12 December 2021); https://doi.org/10.1117/12.2625426

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available