Design And Research Of The Multi-DOF Robot

As a typical integration of machinery and electronics, the robot is developed in recent decades. Nowadays, it has been used in all aspects of life. Among the different types of robots, the miniaturization, multifunction and lightweight bomb-disposed robot is of great value in both practice and research in the military. The research object in this thesis is about a lightweight and multi-joints robot. It can be fixed on the moveable platform in lab to form the bomb-disposed robot. And then, it will be more useful.According to the demand of the project, the whole layout and mechanical structure of this robot has been designed in this thesis on the base of the research of foreign robots. This robot is a 5-DOF joint robot. These joints are all rotary joints. Planet-gear reducer and worm-gear reducer are used to increase speed ratio, so the great speed radio can be gotten by these small devices. These joints are driven by the DC.The kinematics analysis on the robot is conducted on the base of the 3D model. The linkage coordinates and linkage parameters list have been finished. And then set up the forward and reverse kinematics matrix formula of the robot and solve them. Meanwhile the Robotics Toolbox of the Matlab software has been used to simulate.The PC+DSP 2-stage control is used to control this system. PC is used on the upper level to carry on the trajectory planning and calculating of kinematics. Meanwhile, it transmits the result to the lower level through the series port. The lower level is the self-make motion controller which is centered with double DSP chip. It can control and drive electronic motor. The highly precise photoelectric coder is used in this controller as the feedback component for speed and location. The controller can drive the motion of every joint. So the controlling of the location, speed and the electricity can be realized. PID control arithmetic about one joint is also discussed and simulated. Additionally, the software of the control system is described systematically.Last, the simple test of this robot is carried out to verify the whole system.All the above can be the basis for further research.