Kinematic Analysis and Digital Mock-up Based Hybrid Verification about the Industrial Robot with Symmetric Dual Planar Four-Bar Mechanism

摘要

In this paper, the context of relative kinematic modeling, and the analysis of symmetric dual four-bar mechanism industrial robot are introduced. For such mechanism, its designation of the representative algorithm, and its simplification, simulation, verification and alternately analysis in Forward Kinematics Problems (FKP) and Inverse Kinematics Problem (IKP) were studied. Via such method, it's possible to efficiently analyze and solve the both of FKP and IKP of symmetric dual planar four-bar mechanism. Thus this method can be applied for the design, simulation and verification for the robot with similar structure.