Research And Design Mechanical Structure And Control System For A Light Weight Robot

The traditional industrial robots are mainly developed for industrial manufacturing.They have some drawbacks such as bulky structure and low payload-weight ratio.These shortcomings limit their applications in such areas search and rescue,space exploration,domestic service,medical assistance,nuclear facilities maintenance and so on.To satisfy the market's needs,light weight robot has developed.The light weight robot has advantages of compact structure,high payload-weight ratio,convenient for fixing and maintenance,simplicity of operation and so on.It is one of the key research directions of the next generation of robot.This paper has carried out research on structure design and control system design.First summarize the structure design methods and control system schemes of the current light weight robot,upon which the new robot is designed.Second,proceeding from the design index of the robot,the modular joint structure scheme is brought forward.Modular joint integrates electronics and mechanics components,including motor,reducer,sensor,communication and control units.On the foundation of this,drivers,servo driver and reducer are carefully selected.The electric braking unit is realized by electromagnet and retaining ring.The new robot adopts distributed control system,the master controller is separated from joint controller,to improve the modular level of joints in electrical system.This paper established the robot's joint mathematical model by the common D-H parameters and draw the robot's work space by MATLAB.Finally,a single joint test platform is designed.Based on the test platform,the position accuracy of joint and the joint's load capacity are verified.The repeated position accuracy of the robot is measured by the coordinate measuring machine,the result shows that the robot has a high repeated position accuracy,meet the design requirement.