Research On Design And Kinematics Character Of A New Multi-joint Nonholonomic Underactuated Manipulator

The nonholonomic problem most commonly arise in finite dimensional mechanical systems where constraints are imposed on the motion that are not integral, such as wheeled vehicles with rolling contact and space robotics with angle moment conservation. The nonholonomic system is controllable when the dimension of input space is less than that of configuration space.This paper proposes a new type of nonholonomic underatuated controllable manipulator based on the rub disc movement composition mechanism and nonlinear control principle. This new manipulator is nonholonomic, we can only use two actuates to control the multiple joints because of its special nonholonomic character.The research based on the kinematic character of the manipulator indicates the system is equipped with constrains of nonholonomic. And, its controllable quality is proved, which show the manipulator is controllable.Further, the paper converted the manipulator into chained system. The reason for processing the conversion is not only general nonholonomic system all can be converted into chained system, more important, the controllable method of chained system is more easy and mature.After the chained conversion, the paper discussed controllable method of chained system, as a result, we applied the time polynomial inputs control solution in our manipulator.At last, we calculated out the control inputs of the manipulator in the algorithm. We carried on these control inputs in some designed experiments to prove the feasibility and reliability of our control algorithm.