Kinematics Performance Analysis And Dynamics Simulation For Manipulator With Five Degree Of Freedom

The robot technology is the emerging comprehensive high-tech technology cross disciplines, is the integration and cross of many disciplines. Usually the study on kinematics and dynamics of mobile manipulator is an important branch of Robotic Science. 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.Supported by the National High-Tech Research and Development Program of China (863 Program) "Multi-sensory robot system for detection of dangerous goods" (under grants NO. 2006AA04Z221), the thesis is carried on the research and simulation to the workspace, singularity configurations and dynamics of the mobile manipulator. The object of research is Hebut-Ⅱmobile robot. The main contents are as follows:Firstly, this paper introduces the improvement of research on mobile manipulator at home and abroad and the situation of robot simulation, describes Hebut-Ⅱmobile manipulator's basic structure characteristics, establishes a 3D simulation model of manipulator with five degree of freedom through the software of UG, then the simulation model is exported into ADAMS, a virtual prototype of the manipulator is established.Secondly, Jacobi matrix of manipulator with five degree of freedom is established, and the singularity configurations of every joints is analysed and simulated through Matlab; according to the joints variable and the workspace corresponding relations, using Monte Carlo numerical method, produces as far as possible many joints variable combination using the random number, solves the point aggregation of manipulator end through the robot kinematics equation, obtains the reachable workspace of manipulator.In the end, using the Lagrangian approach, the dynamic model of manipulator with five degree of freedom is obtained. On the base of these, the dynamic simulation of the manipulator is finished using the virtual prototype established through ADAMS.