Modeling Method for Mechanism Configuration of the Articulated Industrial Robot

Abstract:

Modeling method for mechanism configuration of the articulated industrial robot is proposed. Each link of mechanism configuration is modeled by a type of variable coordinate system based on UG system. The variable coordinate system is changed with a type of variable kinematical parameter of the links. Thus the position and direction vector of terminal link by reference to frame at any time can be obtained by using inquiry command in UG system. The typical modeling example of the FANUC articulated industrial robot which possesses 6 rotation freedoms in space is as shown in figure. It is appearance that the Modeling method by this way is simple and the modeling result of the articulated industrial robot is visual, believable and reliable.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1696-1699
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1696
• Online since: May 2013
• Authors: Ping Liu, Jian Qin Fu
• Keywords: Industrial Robot, Model of Mechanism Configuration, Space Mechanism

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