Kinematic Modelling Analysis and Simulation of 6-DOF Manipulator

Abstract To test the rationality of the structure design of the six-degree-of-freedom manipulator, kinematics modelling and simulation were carried out. Firstly, the manipulator’s 3D model is created using SW platform. Secondly, the mathematical model of the manipulator is created according to the DH parameter method to complete the forward kinematics theoretical analysis. Finally, the reachable space of the end effector is simulated and an arc trajectory Simulation results indicate that the reachable space of the manipulator has no obvious cavity and the set trajectory curve is smooth without jumping points, the structure of the 6-DOF manipulator meets the design requirements.