Modular Driven Joint Design And Research On Key Technology

With the development of society,the use of robotic arms in industrial,service,medic al,and aerospace,military,and other fields has become more and more widespread.How ever,the conventional design robotic arm has a long research and development cycle and is aimed at the designated working environment.Poor performance.Cables are susceptible to aging and winding,making troubleshooting difficult.Modular driving joints came into being in this case.As one of the key research directions of the robotic arm design,it adopts a large hollow wire to avoid the problem of bare cable,good interchangeability be tween joints,and the use of joints to configure the mechanical arm design.The method greatly shortens the development cycle of the robot arm,and it is easier for each joint to be independently driven to check the failure position of the robot arm.This article will develop a modular drive joint design and a three-degrees-of-freedom robotic arm design based on a modular drive joint.Firstly,through analyzing and summarizing the development status of the modular drive joints at home and abroad,as well as the existing traditional methods of designing the mechanical arm,lay the foundation for the modular drive joint design.Second,determine the design specifications and overall structural design of the three modular drive joints,and complete the selection of components such as drives,motors,encoders,brakes,torque sensors,and harmonic reducers.Use Solidworks and ANSYS Workbench for 3D.Modeling and key parts statics and optimization analysis.In addition,a three-degree-of-freedom manipulator is designed based on three modularly-driven joints in the paper.Static analysis and optimization are performed on the connecting rods.The common DH coordinate system is used to mathematically model the three-degree-of-freedom manipulator and its kinematics is analyzed.With dynamics.Finally,the dimensional analysis of the key dimensions and the drawing of the engineering drawings were carried out.After the processing was coordinated,the processed parts were examined using a three-dimensional coordinate measuring machine,and the prototype assembly of three joints and three degrees of freedom manipulators was completed.Set up an experimental platform to perform single-joint debugging,and test the performance of repeated positioning accuracy,stiffness,load capacity,and position following of a single joint,and test the repeatability of three-degree-of-freedom robotic positioning.