The Study On Kinematics And Dynamics For Manipulator With Five Degree Of Freedom

Usually the study on kinematics and dynamics for serial manipulator is an important branch of Robotic Science. In practice, we have met this problem: with the development of petrochemical industry of our country, the measurement and maintenance for the chemistry leakage from chemistry reactors and pipelines has become necessary technology to petrochemical industry. Because of the harmfulness of the chemicals, the mobile manipulator with independent ability becomes the best choice of mending work, replacing or helping mankind finish the highly dangerous work. At the same time, mobile manipulator has a brand new future in social public security and military affairs, for example dismantling explosives or tinder, anti-terrorism, etc. The thesis is carried on the research to the coordination-controlling for mobile manipulator, supported by a National Program 863 item— "The Mobile Manipulator system aimed at measurement and maintenance, working in the circumstance of chemistry dangerous leakage from the chemistry dangerous reactor"(item serial number: 2003AA421040).First, analysis the improvement of research on kinematics and dynamics of manipulator, describe Hebut-2 mobile manipulator's basic structure characteristics, use Unigraphics NX2.0 build a 3D model of manipulator with five degree of freedom, and then build a brief model in ADAMS2003. Then, analysis DKP(Direct Kinematics Problem) and IKP(Inverse Kinematics Problem) of manipulator. At the same time, finish the simulation of kinematics with ADAMS, to validate the solution of DKP and IKP.Secondly, find the work space of Hebut-2 manipulator with ADAMS model, find the effective work area when manipulator carried 5 kilogram load.Thirdly, based on dynamics sub-models——manipulator, so the relations between force, mass and acceleration, torque, inertia and angle acceleration is explained. At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator in order to guarantee the better position precision and expected speed and acceleration. At the same time, the whole dynamics model is established in ADAMS. Finally, finish statics analysis of the manipulator in AN SYS.