Kinematics Study of Six-Axis Industrial Robots Based on Virtual Simulation Technology

Manufacturing industry is an important basic part of China’s economic development. With the rapid development of Internet of Things, big data, virtual simulation, sensors and other technologies, the rapid transformation of manufacturing industry to digitalization and intelligence is promoted. Industrial virtual simulation technology can realize the purpose of mirroring the physical space of the physical equipment in the digital virtual space, so as to realize the virtual debugging and parameter optimization of the physical equipment. In this paper, a robot kinematic modeling and simulation analysis method based on virtual simulation technology is proposed. Taking the six-axis industrial robot as the research object, the mathematical model of robot forward and reverse kinematics is established by the D-H parameter method; taking the automated production line of flange bearing as an example, the SimReal industrial simulation software is used for virtual modeling of the robot body and PLC virtual commissioning simulation of the production line, and the end parameters and six-joint motion parameters are collected based on the trajectory teaching method. The accuracy and rationality of the theory and research method are verified by comparing the theoretical results of the mathematical model with the simulation results.