Kinematic Analysis and Simulation of a Seven-degree-of-freedom Robot

Abstract

With the popularization of robots in various manufacturing and assembly plants, robots are gradually replacing humans in complex and dangerous work situations, playing an increasingly important role. However, in narrow working terrain, the performance of six-degree-of-freedom robots is significantly limited. This essay put forward a seven DOF robotic arm to solve this problem, which uses redundant degrees of freedom to solve the problem of limited robot use under complex working conditions and narrow terrain conditions. Then, the Denavit-Hartenberg parameter method is applied to analyze the positive kinematic model of the robotic arm by mathematical modeling, and the MATLAB software is used to verify the obtained positive kinematic model. In the end, the trajectory planning of the robotic arm is made in a straight line, and the relationship between position, velocity and acceleration with time is obtained, which proves that the structural rationality of the robotic arm is in line with expectations.