Design And Experimental Study Of The Nonholonomic Manipulator With Triple Athrodesis

The motion of the nonholonomic manipulator is non-integrable, therefore, it is possible to control more output with less dimensions. Nowadays, the research of the nonholonomic fields are mainly on the motion planning of nonholonomic mechanics and nonholonomic system, and they all refers to existed nonholonomic system. The paper constructs a nonholonomic triple athrodesis manipulator through studying on new nonholonomic mechanism, make two servomotors control triple athrodesis angles.The paper contains three research aspects:(1) Based on the new nonholonomic mechanism,—the friction motion's disengaging mechanism of the disk and turntable, the nonholonomic triple athrodesis manipulator is constructed, and its kinematics mathematical model is constructed; the controlling problem has already considered when the module of the manipulator is designed, it is wished to change the kinematics mathematical model to single-chain system. In fact, it is possible to change the nonholonomic triple athrodesis manipulator to the controllable single-chain system. The motion planning and of the nonholonomic triple athrodesis manipulator is derived by the control method and procedure of the input of the time polynomial, and it is explained by the example of the simulation with MATLAB.(2) The nonholonomic triple athrodesis manipulator is designed rely on the schematic diagram, and its assembly drawing and part drawing are drawed; the problem of "adjust the positive pressure that the disk to the rotor"is resolved in the designing process, and the fitful friction material of the disk and the rotor is selected through testing on different materials;then, the manufacture and assemble of it is completed, to avoid the skid and its influence to the test precision, insure the pieces of the manipulator drive stably.(3) To verify the simulation results, the plat of the nonholonomic system is constructed. Through controlling the motion of the motor, the sensors are used to collect the output response of every joint and the change of the motor speed. Compare the test data and the simulation results, it is found that the error is very minor, it is said that, the nonholonomic triple athrodesis manipulator is controllable, in other words, two motors can control the rotation of triple athrodesis.