Skew-RPYR Wrist Kinematics And Dynamics Analysis And Simulation Research

In modern industry areas,especially in those space research programs,mechanical wrists have various and significant application,and this trend keep growing rapidly with the further explorations of the unknown outer space. this article is to design a skew-RPYR mechanical wrist not only with comparatively high workspace and dexterity but also the capability of circumventing the mechanism singular position effectively while operation. The dynamics analysis and calculation will become the basis of practical control.A short review of the development in wrist design is introduced in the paper, and the development of the idea of the skew-RPYR wrist put forward is necessary. According to the geometry model constructed in this paper, kinematics analysis, inverse kinematics with its optimization, analysis and calculation of dynamics are introduced. The resolution of matrix reverse transformation and gradient projection based on fake reverse matrix are used in the computation. Optimization of singularity avoidance and joints limit avoidance based on gradient projection are proposed. For dynamics computation, the terminal pose of wrist is changed into the corresponding joint angles, so the wrist can attain the expectation pose. Under two different conditions, the paper finishes the track planning of the joints movement. besed on kinematics analysis and trajectory planning, the paper analyzes and calculates the dynamics of wrist by Lagrange methods. Then program and simulation based on ADAMS is respectively given, so we can get the characteristics of all the robot joints movement. Kinematics optimization rules can be proved by motion simulation characteristic. On the other hand, the wrist joints torque is tested when a load forced on the handle. The required torque is not beyond torque the engineer can afford, so that prove the analysis and calculation is correct. According to the construction and dimension of the robot arm, this paper constructs a model which Skew-RPYR Wrist model joined to redundant arm. The position and posture can be realized by the simulation. This experiment will provide abroad application for robot arm.