Design and Development of General Multi-functional 6-DOF Series Manipulator Kinematics Comprehensive Simulation Platform

doi:10.3901/JME.2024.23.102

Abstract

Abstract: A comprehensive digital simulation platform (ManiKASim) based on open graphics library (OpenGL) was developed to meet the systematic requirements of kinematic simulation analysis of 6-DOF serial manipulators. First of all, WolframScript is used to modularize the algorithm theory of the kinematic analysis, so as to modify or replace the kinematic analysis algorithm of manipulators. Secondly, based on open graphics library (OpenGL), the manipulator model is loaded and simulated. At the same time, Qt and its signal and slot mechanism are used to design the platform interface and complete the communication between the modules of the platform. Finally, taking the UR10 manipulator as an example, the kinematic function modules of the platform are demonstrated and verified. The results show that the comprehensive digital simulation platform (ManiKASim) integrates the mathematical modeling and algebraic solution methods of D-H matrix, dual quaternion, double matrix and double quaternion, four of which are commonly used for forward and inverse kinematics analysis, could be used for kinematic analysis of all configurations of 6-DOF manipulators, such as three-axis intersecting, three-axis parallel, general 6R, 1P5R or 2P4R manipulators. Moreover, ManiKASim can change or replace the algorithms of the forward kinematics, inverse kinematics, singularity analysis, reachable workspace, flexible workspace and attitude space modules of manipulators at any time, provide the visualization and tabular representation of the 3D model control of manipulators and the kinematic function modules, with virtual control of any field of view, all-round observation and other functions. ManiKASim can meet the system requirements of 6-DOF serial manipulator kinematic simulation analysis, improve the efficiency of kinematic analysis, and provide help for the design and application analysis of 6-DOF manipulators.

Key words: 6-DOF manipulators, kinematic analysis, OpenGL, WolframScript, comprehensive digital simulation platform

CLC Number:

TP241

LI Jian, LIU Xiansong, ZHANG Ying, WEI Shimin, LIAO Qizheng. Design and Development of General Multi-functional 6-DOF Series Manipulator Kinematics Comprehensive Simulation Platform[J]. Journal of Mechanical Engineering, 2024, 60(23): 102-113.

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