Research On Modular Design And Motion Control Of 6 Degree Of Freedom Manipulator

Manipulator arm has gained more and more popularity in Aerospace,Medical Treatment and Manufacturing Industry,it is important for manipulator arm to carry out a task in those fields instead of people,and the manipulator arm has promoted the development of those fields.In this context,this paper designed a 6degree-of-freedom manipulator,and researched it on structure design and motion control.Following is the main content :First,choosing the manipulator arm configuration according to technical requirement of operation space,positioning accuracy and load,meanwhile,considering the existence of inverse solution.Based on the design of the overall scheme,design the joint structure based on the modular design method,then the type selection of main parts was completed.Finally,complete the design of three-dimensional model,and the rationality of structural design is verified by manufacturing a prototype.According to the structure of manipulator arm in this paper,studying kinematics forward and reverse by D-H(Denavit-Hartenberg)method,put forward a general solution of kinematics reverse based on inverse matrix multiplication method for this kind manipulator arm,eight analytic solutions are obtained,a solution was proposed aimed at inverse kinematics on singular configuration,the forward kinematics model and inverse kinematics solution are verified by Robotics Toolbox in MATLAB software,which provides a basis for later trajectory planning.For the trajectory planning of the 6 degree-of-freedom manipulator in joint space and Cartesian space,the planning methods of point to point and continuous path were putted forward through a trapezoidal motion law,the results showed that the joints angle variation was consecutive and smooth,which pledged the stability of the movement.Finally,a hardware platform of the control system was put up through a structure of ‘computer + motion control board',and the hardware interface was designed,pledging the stability and higher control accuracy of the control system from the hardware level.Based on the analysis of the basic control functions of the system,the software framework was designed,then,the software development is divided into three parts: man-machine interface,motion control function and the driver of motion control board,ensuring the integrity of the software function,and it will be easy to upgrade and maintain the software later.