Research And Implementation Of Single Motor Driven Robot Arm

With the development of robotics, in order to cooperate with environments, manage objects, fulfill tasks better and keep up with the intelligent trends, the effects of robot's operational terminal, such as robot arm and claw have been more and more important. So it produces a higher target to the design of robot arm, which calls for a large rate of load to self-weight, operating more flexible, higher stability and security, etc.In the project, based on the theory of Single Motor Driven, the author attempted to design a new robot arm, and eventually realized the design of Single Motor Driven Robot Arm. Also we discussed some main framework problems about the SMD Robot Arm. First, we briefly discuss the theory and auxiliary technologies of SMD, and establish the blue print of SMD system. Considering the fact of project, we make a synthesis of the SMD Robot Arm which presents the DOFS and measurements of the SMD Robot Arm, also the joints'space and operation space. According to it, a blue print about the SMD Robot Arm's configuration is set down. Combining with the thought of modularization, the author designs the joints in detail and makes the full scale 3D model. By using the module of Pro/Mechanism, we analyze the motion's transmission of the SMD Robot Arm which proves the rationality of the transmitting configuration. As a result, we apply the SMD Robot Arm's theory to practice.Afterwards, the author does some research on the Robot Arm's kinematics and analyzes agility of performance and singularity depending on the primary design, eventually optimizes the contrary kinematics using the principle of the Least Energy Consume. Torque simulating by using the software ADAMS supplies data to optimize the Arm's configuration. Also we simulate the spring driven parts, it is proved to improve security of motion's transmitting.To gain the parts'inherent frequency and inherent states of vibration, we do the mode analysis for some key parts of junctions by ANSYS according to the torque data from the simulation in the former, which provides the referenced data for operating the SMD Robot Arm. Subsequently we improve the structure of the Arm according to the static force analysis about some key parts, for example, linked block of supporting shaft and flange axis. Therefore, after finishing the optimum design for the SMD Robot Arm, we machining it and make it be true.