Research On A Kind Of Multi-joint Controllable Underactuated Manipulator In Three-dimensional Space

As the development and application of the robot technology is advancing, for the fine working and flexible controlling increasing requires are became more demanding under different environments. Correspondingly, complicated of the mechanic part of robot and difficult of the motion control are also became more salience. At present, the research of the nonholonomic field is focus on nonholonomic mechanics and motion planning of nonholonomic system, which is passed. For the research of nonholonomic manipulator is just in the field of the kinematics and motion planning. However, we should study the characteristics of dynamic in order to control the manipulator stable and accurately.The paper proposes a new kind of underactuated manipulator mechanism which can move in three-dimensional space based on the present nonholonomic constraint theory, the theory of robot study and control , the rub disc movement composition mechanism and the Existing two-dimensional model in laboratory. We proved that this underactuated manipulator mechanism has the nonholonomic characteristic and the controllability, And This paper calculated this manipulator's kinematics models, and has carried on the thorough analysis to its kinematics characteristic. This paper also calculated the dynamics models based on the Lagrange mechanics equation . .The virtual prototype and components are established under the SolidWorks software ,and then the friction drive models and the digital models are imported into ADAMS. The kinematics and dynamics analysis of the virtual prototype model is accomplished.Analyzed the problems in simulation and present the solutions correspondingly.The dynamics analysis of the Polyarticular nonholonomic manipulator shows that the dynamics model of the nonholonomic is similar to general robots. So we can use this method to analyze the dynamic model of general robots to research the nonholonomic manipulator.The results of this dissertation have great importance on the nonholonomic structure's research and development .and it also can be helpful to research and development of the air-robots, the medical robots, the operation robots of special environments, and it is also helpful to advance and application of robotic and its technology.