Research On Kinematics And Dynamics Of Service Robot's Waist And Arm

As one of the research focuses in the field of robot at home and abroad,the research level of service robot represents the development level of a country in the field of robot.China has listed service robot as the key frontier technology in the next 15 years.At the same time,At the same time,the application environment of service robot is becoming more and more complex.In order to enable the robot to adapt to various complex environments,the kinematics and dynamics of service robot are attracting more and more attention from researchers.In this paper,kinematics,workspace,joint trajectory planning and dynamics of the service robot's waist and arm mechanism are studied,the correctness of the algorithm is verified by computer simulation experiments.The main contents of this paper include: construction of 3D model of service robot's waist and arm mechanism,analysis and simulation of kinematics of the waist-arm mechanism,analysis and simulation of workspace and joint trajectory planning,dynamic modeling and simulation etc.The main work of the paper is as follows:(1)Construction of 3D model of service robot's waist and arm mechanism.Firstly,the structure of service robot's waist arm mechanism in this paper is introduced,the structural parameters and physical properties of the components of the waist-arm mechanism.Then,use the Solid Works software to draw the 3D model of the waist arm mechanism according to the physical size.(2)kinematic modeling and analysis of service robot's waist and arm mechanism.Firstly,MDH method was used to describe the parameters of the waist and arms,and the inverse kinematics equation of the arms is solved by the method of variable separation and geometry.Then,the forward kinematics equation is derived when the arms are coupled with the waist.Finally,the three-dimensional model is imported into MATLAB to build a simulation platform and verify its correctness.(3)Workspace solution and trajectory planning of waist-arm mechanism.Firstly,the concept of set is used to analyze the workspace,Monte Carlo method is used to solve the point cloud of the workspace with the help of MATLAB software.The point clouds of workspace with and without waist motion and the workspace boundaries of some interfaces are compared and analyzed.In order to make the service robot run smoothly and stably,cubic and quintic polynomial interpolation methods are used to plan and simulate its trajectory in joint space.Finally,the straight line and arc path planning in Cartesian space are introduced.(4)Establishment and Simulation of dynamic model of waist-arm mechanism.Firstly,the dynamic equation of waist-arm mechanism of service robot is analyzed and constructed by Newton-Euler method.Solve the moment and force condition of each joint in the course of motion.Then the 3D model of waist-arm mechanism of service robot is imported into Adams software to build virtual simulation prototype.Use MATLAB to control its motion process and verify its correctness.In this paper,the kinematics and dynamics of the service robot's waist-arm mechanism are studied.It provides some references for the following research on the flexibility analysis,collaborative motion,trajectory planning and motion planning of the two arms when coupled with the waist and the dual control of torque and Angle of service robots.