3D Modeling Manipulator Movement and Direct Positional Kinematic Analysis

Computer 3D modeling of any robotic system has become widespread in the last few years and is used for educational and research purposes. Currently, there are lots of 3D modeling tools available for various fields of robotics research with some advantages and limitations. In this paper, as an example a computer model of the RRRRT manipulator and its movement. To create a 3D model of the manipulator, at first, you need to obtain 3D models of the manipulator components: kinematic pairs, links, grips, etc. in the Maple environment. Next, it is necessary to combine all the parts of the manipulator into one system using the developed program in the Maple environment, while specifying the main connections between them to create a full-fledged visualized moving model of the manipulator. Also, in this paper, the direct positional kinematics problem of this manipulator is studied in detail. To find the kinematic characteristics of the manipulator, the Denavit-Hartenberg and Newton-Euler methods were rationally used. The received results are presented in the form of 3D graphs. Such graphs allow you to visually observe how the modules and directions of the given parameters of the manipulator change in the graph, depending on the manipulator position in space.