تحلیل مکانیکی ربات صنعتی برای ارتقاء به ربات بازی

In order to explore the value of traditional industrial robots, a solution was discussed to upgrade a 5R series joint industrial robot into a desktop lightweight game robot by transforming some components. Based on the dynamic analysis, the forward kinematics equations and inverse kinematics equations of the robot were solved by using the traditional method and the double quaternion method. Based on the mechanical analysis, the static equilibrium equation and kinematic equation of the robot system were obtained. As a result, the upgrade of the robot can complete the basic functions of the game. However, an universal significance of dynamic analysis and mechanical analysis method can be obtained from the article.