Research On Control System And Experiment Of Five-Bar Cobot

The safety problem between the workers and robots that work in the same workspace has been the main bottleneck of the development of the robotic technology. With the development of the theory of virtual constraint and the technique of collaborative robot (Cobot), this trouble maybe will be solved.The paper wills emphasize on the research of the Nonholonomic constraint transmission (NCT) and the design of the control system of the Five-Bar Cobot. In the paper the controls strategy of the Five-Bar Cobot is introduced and the prototype of Five-Bar Cobot is been built. The concrete research is as following:Firstly, according to the theory of virtual constraint, the NCT using two transcend clutch is researched. It designs the system of the Five-Bar Cobot. The paper studies and deduces the work principle and work mode of Cobot.Secondly, owing to analyzing the kinematics of Five-Bar Cobot, the equation of kinematics and the work space are deduced. In the paper, it designs the prototype of the control system and the tactic of control of Cobot according to the passive performance of Five-Bar Cobot.Thirdly, the software and hardware of the control system of Five-Bar Cobot is designed. The embedded controller software based on all of work mode and the interface hardware is developed.At the end of this paper it do the experiment with the Five-Bar Cobot prototype. Experiment results indicate that the machinery and control system of Five-Bar Cobot reach the design request, and Cobot has passive performance.