Information technology Kinematics modeling and analysis of four degrees of freedom carrying manipulator trajectory

In this paper, combining with the examples, we focus on the study of general Kinematics modeling and simulation of Four degrees of freedom carrying manipulator based on laboratory development. On the basis of calculating kinematic positive and inverse solutions, a space trajectory curve is planed which is composed of three sections of straight lines and two pieces of circular arc. For 4R manipulator trajectory planning, the researchers propose a polynomial interpolation method based on displacement at the end of the tool in the joint space. The method is applicable to any power of polynomial interpolation and simplifies the complex curve and the process of trajectory planning. In this paper, we make a simulation of 4R manipulator movement by using Adams, and realize the expected results. Besides, by analyzing the results, some shortcomings have been found, which may need further research.