Optimization And Analysis Of Modular Manipulaltor Based On Joint Module Unit Library

Joint module unit is the basic element of modular manipulator, with which it could assembly to a varity of manipulators that could be applied to different working environm-ent. Modular manipulator has also became a hot issue in the domain of robotics and caught the eye of the researchers around the world in recent years. In this paper, it concentrate on the configuration optimization, trajectory planning and dynamic simulati-on of the manipulators.Firstly, Three kinds of kinematics performance Indices are proposed in this paper, which has its own application scope. According to the fetures in configurations of the modular manipulators, the manipulators ,which have two,three and six degrees of freedom respectively,are optimized to acchive the optimum length ritio between the upper arm and fore arm.What's more, a structure of Joint module unit is also devised using Modular Design principle in this paper, and Joint module library is built on the basis of forty-eight joint modules. After velocity analysis of joints, the recursion formulas of torques in every joint are deduced using Neton-Euler method. According to the dynamics performance of the manipulator, A multi-objective optimization model is constructed with three dynamics performance functions.Furthermore, a new method is proposed to solve the kinematics of modular manipu-lator. With the optimization results of configuration, the trajectory of a 4-DOF manipulat-or is accomplished by linear trajectory planning, and it also plans a 6-DOF manipulator's trajectory using 4-3-4 polynomial. The specimen of the trajectory is obtained and the cur-ve of the path in every joint is also plotted by the planning programme.At last, two series of joint modules are selected from the joint module unit library using genetic algorithm and common algorithm respectively, which could assembly to a 6-DOF and 4-DOF manipulators. The three-dimention models are transferred to ADAMS software for dynamics simulation verify that the peak value of the torque in every joint has been satisfied the constraints in optimization model. It is concluded that the optimization method for modular manipulator in this paper is feasible.