Design And Kinematic Simulation Of Nonholonomic Manipulator

Nonholonomic machine system has a character that the number of dimensions of input space is fewer than that of controllable posture space. The character is very helpful in the design of manipulator because it can be used to simplify the system sharply.In this paper, a rub disc movement decomposition organization is firstly analyzed and proved to be a nonholonomic system. In fact, it is a speed changing mechanism the radio of which is variable. Then it was used as joint to form a manipulator with four links. The chained form conversion had been done after the analysis of the constraints of the manipulator. The result of the conversion shows that the manipulator is a single chained form system. Because of the controllability of single chained form systems, then the system is also controllable.Another emphasis of this paper is the establishment of 3D model of the manipulator and the simulation to the control method of the manipulator. After the topological structure of machine system and the method of conversion of coordinate are introduced, 3D model of the manipulator had been set up in Pro/E. In the process, several problems had been solved, such as simplification of part model, assembly, idealization of rub disc movement decomposition organization. Then the simulation of control arithmetic had been done. In the simulation it was found that there was interference when the manipulator moved. It is because the manipulator is controlled by minimum time method. The method has no constraints about angle displacement.