Workspace Analysis of a 6-DOF Installing-Calibrating Robot

Abstract

According to the working characteristics and installment environments of modules，a compact 6-DOF installing-calibrating robot was designed. Coordinate systems of joints are set upand the forward kinematic solution are derived by using D-H methods. Using the Monte Carlo method based on random probability and MATLAB software simulation for the robot's structural parameters to the robot's workspace impact. According to joint space to the mapping workspace，robots have been the workspace. The research results have proved that the designed configuration can satisfy the needs of installment action，which will provide theoretical reference for the robot trajectory planning，dynamic analysis and online real-time calculation.

Analysis on the Workspace of Six-degrees-of-freedom Industrial Robot Based on AutoCAD

“…The study of workspace of robot is inclined to use Monte Carlo method [5][6][7]. Hou Yulei [8] proposes a method for the workspace boundary extraction called 'limit fixed interval angle', based on the principles of bar limit combined with fixed joint variable.…”