The System Desing And Study For New Type Mobile Robot

Mobile robot is consisted of the multi-DOF manipulator mounted on an all-round mobile platform, which makes the robot perform the task with a more suitable pose in the almost infinite room, with greater mobility and flexibility. A new flexible manipulator experimental platform, composed by a 5 DOF manipulator and mobile car, is designed for teaching and research. In the future, it could be developed into assisted robot in service industry and material transporting packing robot in automated factory.Traditional series multi-joint manipulator has the disadvantages of big deadweight and small load capacity. In the subject cable-driven structure is adopted and drive components of all the joints are placed in the base position to overcome the shortcomings of the traditional ones and acquire features of light weight, big ratio of load to deadweight and so on. It was proved that the new pattern of planet 8-shaped winding could decouple the robot and simplify controlling algorithm. In addition, the robot's overall program and specific mechanical structure are designed using 3D modeling software according to the project requirement, and the test prototype is built. Under study, the coordinate system and kinematics equations of the manipulator are established. The robot inverse kinematics problem with coupled joints is studied. Because of the coupling joint movement, analytical solutions of some joint angle can't be gotten, and this project uses the Newton method to solve numerical solution. In order to solve the continuous robot path planning problem, namely, a detailed analysis of the joint space planning methods and Cartesian space planning methods is given and the combination of the two planning methods can achieve such a smooth line or arc robot path trajectory.The whole function of the control system is analyzed, the embedded motion control system, the appropriate drives and sensors are determined, and the main control circuits are designed. The overall software system is shown, the scheme of main modules and the corresponding real-time control software system is developed. It is proved that the robot system looks neat and compact and meets the load requirements; the control system is stable, reliable and anti-interference through some tests. The research having done and the conclusions and data could be the basis for further work, and provide the reference methods and experience for related issues.