A Kinematic Simulation Of Multi-joint Flexible Manipulator Based On The Spherical Gear Mechanism

With the development of industry modernization, the flexible wrist is widely used for its advantages. One key component of the flexible wrist is joint and the research of it is very important.The generation of the flexible wrist is along with the development of the robot technology and bionics technology and mechanical engineering. The essence of the spherical gear mechanism is version of universal joint, it has two degree of freedom and it can be used to deliver 2D motion. This kind of 2D fixed-point spheric motion is the characteristics that most biologic joints have, which can be used for a flexibility manipulator to transfer motion. As a result, it is necessary to research how spherical gear mechanism be utilized with flexible multi-link manipulator. Because the theories system of the involute spherical gear didn't build up completely, it is necessary to establish the model of the spherical gear and the spherical gear mechanism and to carry on various related analysis on the base of the theories we have had. Moreover, to prove the validity of theory of the spherical gear mechanism will be useful to impulse the development of method and the application of spherical gear.Firstly, this text made the kinematic analysis of the spherical gear mechanism and the flexible manipulator based on the spherical gear mechanism by the method of space displacement matrix, and obtain the kinematics rule-kinematics equation. Secondly, the author used the Pro/E to establish the model of involute spherical gear mechanism and manipulator and do a kinematic simulation of them and get some curves.The result of kinematic simulation illustrated the involute spherical gear mechanism can realize precisions and continuous surface of sphere rolls motion purely between two spherical gears. As a result, it can be the performance mechanism of the accurate space attitude control of the follower output shaft. At last, the problem of pair selection is solved with the analysis of spherical gear characteristic and simulation. The conclusions of the research proved that spherical gear mechanism can be used to realize the accurately and continuously pure roll between two sphere, and can be used as actuation mechanism that follower space poster need be precisely controlled. The flexible manipulator based on spherical gear has three degrees of freedom. It has wide work range, light weight, and can solve the problem of low controlling precision according to the heavy weight of traditional manipulator.