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The Mechatronics Technology Training System simulation of modern industrial automation production line , as a teaching instrument system needs to reflect the authenticity and particularity simulation , including handling link selected to attract the students ' interest in learning multiple degrees of freedom of multi-joint robot design . According to the program requirements to design a compact , simple to control more powerful , lighter weight , lower cost robot can play for the whole subject of hyperchromic role of innovation , both practical and versatile , reflects the need for the development of . Firstly, according to the actual conditions and set the technical parameters , the use of graphical method to analyze the workspace of the robot plane motion , the spacing of the joints of the body structure design , draw a schematic diagram of the analysis comparing the structural design to determine the transmission drive mode has been The overall structure of the diagram . Second, the hardware design of the control system , the design of the main control circuit board and wiring for each port the column diagram list of instructions , and the design of a control panel ; software design , based on the actual working conditions using FXGPWIN Software PLC the program design, to achieve the application purpose . Again, the kinematic analysis , with the DH method to establish the coordinate transformation matrix to project the kinematic equations , inverse solution and verified application . Finally, complete part modeling and virtual prototype design using Pro / E software , get drawings of the parts , and virtual prototyping motion simulation , to verify the correctness of the analysis of the kinematics . Theoretical support for the analysis and research , manufacturing and motion control for robot kind ; subsequent dynamics analysis and structural optimization design and process research laid a theoretical foundation .
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