Kinematic simulation and verification based on six-axis tandem robotic arm

Nowadays, with the continuous development of technology, industrial robots are widely used in the manufacturing industry, where tandem robots are working with increasing capabilities. Robot kinematics aims to study in depth the laws of robot motion in a specific frame of reference and as an important function of time, as well as the correlation between the spatial structure of robot joint variables, robot end-effector positioning and pose, and their internal interactions. It takes into account not only the forces and moments of robot motion, but also the temporal characteristics of robot motion. The purpose of this paper is to study the kinematic characteristics of the robot based on the desktop-level six-axis tandem robot GLUON-6L3. First, the DH joint coordinate system of this six-degree-of-freedom robot arm is constructed by the DH parameter method, and the related basic parameters of the linkage are defined. Then, the expression of the chi-square transformation matrix is given, and finally, the kinematic solution results of the robot are verified by using Matlab software to ensure its accuracy.