Kinematics Simulation of MOTOMAN Robot

Auto CAD software can be used to solid modeling of UP6 robot, then using UP6 robot mathematic model verifies the correctness of the geometric entity modeling. The robot model is imported into ADAMS platform and added constraint through the IGES format, at the same time the work of trajectory data information of CAD model is imported into ADAMS platform, which is used to free more drive of drive vice settings, make it easier for robot motion simulation process, and get tools vertex position, angle of each joint and the stress change curve. Through the extraction and analysis of curve data, real time motion information is obtained by the working robot, which lay a certain foundation for the research of robot off-line programming and trajectory planning etc.