Kinematics analysis and Simulation of a cooperative manipulator

A cooperative manipulator was designed. The kinematics model was established by using the Modified-DH method, and the kinematics equation was completed. The Monte Carlo method was used to solve the robotic arm workspace, and the point cloud diagram of the robotic arm end effectors workspace was drawn. The trajectory planning simulation study of the robotic arm was carried out through Matlab, and the displacement, velocity, and acceleration change curves of each joint during the movement were drawn. The rationality of the manipulator structure design was verified, and providing guidance for the subsequent research work of the manipulator.