OPERATING PRINCIPLE AND KINEMATIC ANALYSIS OF INDUSTRIAL MANIPULATORS

Abstract

This article examines the operating principle, structural design, and kinematic analysis of industrial manipulators. The study analyzes the geometric relationships between manipulator links, the spatial motion of the end-effector, and the problems of forward and inverse kinematics. Based on the Denavit–Hartenberg parameter method, a geometric model of the manipulator was developed, and methods for determining the end-effector coordinates were considered. In addition, the motion accuracy, speed, and industrial application efficiency of manipulators were evaluated. The obtained results demonstrate the potential for the effective use of industrial manipulators in automated manufacturing systems.