Study On Robot Joint With More Degrees Of Freedom

Because the new robot structure is still one of the key issues in the current robot researching filed .The paper proposes a new kind of robot joint which had more degrees of freedom. The new joint has not only smaller volume, lighter weigh, but also has bigger action space. Only one such joint can realize the more degrees of freedom, which could be done through more single degree joints linked by rods in many applying fields. The new joint structure can simplify structure, decrease complexity and improve facility. These advantages can make robot-applying fields into microminiaturization and miniaturization. Moreover, due to the new structure's properties for mechanical design, the new joint has bigger action space.To be aimed at the joint we proposed, we also do another more work as follows:(1) We built the dynamic equation and kinematics equation for the new joint.(2) In order to realize the specific arc motion, we completed the trajectory planning for the new joint.(3) In the light of variable load and time-varying rotation inertia, we presented the model system control method based on generalized error control rule. The simulation of dynamics and statics is investigated. It is true, the solution is considerably satisfied for such problem.