Research On The Design And Optimization Of Modular Manipulator Based On Mobile Robot

The structrue of the traditional robot is fixed, usually based in a specific environment for the development of the special mission requirements. Fixed structure of the robot has the characteristics of low-cost and high-precision, can meet the actual needs of a clear mandate. However, because these robots can only apply to a specific space,they can’t change their configuration with the changing of working space and task. There are limitations to complete different tasks on different occasions, they are difficult to meet the changing needs of the market. The emergence of modular robot solves the problem, its a similar "building block" approach to re-select a different combination of modules link to meet the needs of different tasks.In this paper, a first-generation modular manipulator through configuration analysis and design to be assembled into7-DOF manipulator. To complete the capture operation, the arm was elected4-DOF modular configuration. For4-DOF manipulator kinematics analysis,kinematic equations using Matlab simulation correctness.According to the Monte Carlo method to calculate the4-DOF modular robot workspace, used MATLAB simulation the workspace contours, and gave the derivation of solving workspace.Used the self-similarity segmentation method detection each joint module self-collision.This paper planed the grab motion trajectory through the joint space planning. The trajectory is devided into3trajectories each of which uses polynomial interpolation to plan Proposed to optimize the three sections of track time of interpolation based on particle swarm algorithm, cause the movement of each arm joint was shortest.Based on the fist generation link module, this paper studide the modular robot’s link module and improved its structural defects. ANSYS was applied for static stiffness analysis of designed adapter,verified the structure design of link module is reasonable.Finally, the modular manipulator equipped with a mobile robot, using the Bumblebee2binocular stereoscopic camera and the end of the gripper to crawl experiments.Carried out of the coordinate conversion between the visual system and arm base,designed the handware control system of the modular manipulator.The experiment verified the correctness of kinematic conclusion and the trajectory planning algorithm.