Mechanism Design Of Manipulator With Multiple Redundant Degrees Of Freedom And Its Bionic Motion Research

Multiple-redundant D.O.F manipulator can not only conquer the defect of the traditional non-redundant robot, but also has many other merits, such as greater dexterity, obstacle avoidance in highly constrained spaces, robustness. The research has practical value in the grasp and recall technology of spatial floater and complicated environment. So the manipulator with multi-D.O.F based on a new kind of non-singularity all-orientation joint mechanism and bionic motion theory has important significance and applied value.At the foundation of the analysis of the work principle of the PY type and PYR type series joints, the paper designed the improved all-orientation joint unit mechanism and the snake-manipulator with multiple redundant freedom. The PY and PYR joint based on tightwire and guide-wheel drive realize light and miniaturization design. The application of slide-block solves the problem of the motion coupling of pitch and yaw. The manipulator has the characteristic of modularization and combination, it can not only be used as manipulator to grasp and move object, but also be used as snake-robot.At the foundation of mechanism design and the research of kinematics of PYR type joint, the paper implements the motion planning of grasp, creep locomotion and snake locomotion and the related bionic research. The paper applies the geometry analysis algorithm to plan the motion of grasp and move object, and presents the grasp model and the conditions that are needed for grasp operation. According to the bionic locomotion principle of the creep locomotion and snake locomotion, combining the design all-orientation joint mechanism and kinematics theory, the paper implements the motion planning of creep locomotion and snake locomotion with the manipulator of 5 joints 11 freedom and 8 joints 17 freedom respectively. The paper applies snake curve imitation method, deduces the snake curve equation, presents the impact of the choice of parameter on the configuration of the snake curve, and obtains the input function of the angle of joints. Based on theory analysis, the paper presents the program of the motion planning of the manipulator in the software Matlab, and examples used in simulation analysis are presented. At the foundation of mechanism design and the theory study, the paper implements 3D virtual phototyping design of the multiple redundant manipulator with PY all-orientation joints in the software ADAMS. The paper presents the grasp and move object operation simulation, creep locomotion simulation, snake sidewinding simulation and obstacle avoidance and turn simulation, which verify the truth of theory analysis. Meantime, the drive torque data and curve obtained in the simulation can supply valid data for the design and manufacture of the practical phototyping.