Design & Analysis Of The Serial Multiple-joint Manipulator

With the development of robotics, in order to cooperate with environments, manage objects, fulfill tasks and keep up with the intelligent trends, the effects of robot's operational terminal, such as robot arm and claw have been more important. The main subjects of study on robot dynamics shown as two: The first is to optimal control, to improve the dynamic and static quality of robot control, and to implement efficiently trajectory tracking based on the control logic of robot dynamic characteristics; the second is structure optimization, a reasonable designed robot system should have as light as possible nonlinear and coupling, adopt the most appropriate driving force. The basic of the above goals should have been done in this paper, design a serial multiple-joint manipulator, analyzing its kinematics and dynamic.First, the theory of the serial multiple-joint manipulator would be introduced. And the particular of the serial multiple-joint manipulator would be expounded. For validate the rationality of the design of the manipulator, the key parts would be designed by CAE.Base on the design, the problem of the kinematics and dynamic of the manipulator should be solved. So the kinematics calculation and the Lagrange dynamic calculation should carry out. Make corresponding simulation analysis, analysis the force of the manipulator when it running, for optimize the manipulator's structure.At last, the flex of the manipulator should be discussed. These work would be accomplished, analyze the flex characteristic of the manipulator's joint, analyze the way of express the manipulator's joint, analyze the dynamics characteristic of the flex-joint manipulator.