Research On The Control System Of Underactuated Mechanism

Traditional manipulator can only applied in simple special task. In order to make the manipulator adapt to a variety of complex tasks, the mechanical structure and the control system of the underactuated manipulator are designed. Underactuated manipulator is the key technology of intelligent robot; it has broad application prospects.Underactuated manipulator is powered by magnetic stepping motor. It has three fingers. The finger consists four bar linkages and parallel spacing bodies. With adjustable manipulator crawl posture rotation, the object can be captured flexibly. The entire system design of the control system, the sensor system, transmission system is completed. The design of the control system should fulfill the requirements that the manipulator can judge the state of the system on the signals of the sensors. Issues the instruction to the transmission system, realizes the real-time control. The control system should also detect the slipping, find out the position of the object, and handle the abnormal interrupt.Stepper motor drive system is used as a power source. The micro-lead screw transforms the circular motion into line motion. The ball-torque force limiter is used as the connection of the shaft; when the load is over the ability, the ball-torque force limiter will handle it. Optical fiber force sensor is used as force sensor. Vibration sliding-detection sensor is used as a sliding detector. The ultrasonic sensor is used as a position sensor. Completed the sensor receiver, power amplifier, and control interface circuit design and related sensor calibration.Through the mechanical-electronically test proves that the underactuated manipulator work well.