| Modular robot has been one of the pop subjects in the field of robotic mechanical design since 1980s. With the broadening area of robot application and the increasing number of individuation requirements, the domain of modular robot application will become more and more extensive. But the sequent matters will be serious, such as the variety of working object, the difference in workspace and the random assembly among modules (namely the topological relationship and the infinite combination of joint modules and link modules), which make modularized design be more inconvenient than common devise. Consequently, the modularized design and the motion control of robot manipulator are studied in this paper.Based on the development and consummation in modularization theory, the principle and method of modularized design and the effect of three dimensions modeling are discussed. Simultaneously, some rules about design and combination are established in this thesis.On the basis of the discussion on the theory and the design requirements matched with the peg-hole assembly, such as the simple structure, flexible motion, easy control and light weight, by fully analyzing model selection and trassmission method of manipulaotr , reasonable trassmission plans are constituted and a new prototype was manufactured successfully.Aimed at the abundant calculation in the motion planning of redundant robot manipulator, the motion controlling algorithm in peg-hole assembly manipulator is also studied on the ground of the traits of the peg-hole assembly and the real-time responsibility of control system. In order to make the best of both merits in local and global planning, chaos algorithm and classical algorithm are mixed together. To ensure the systematic real-time responsibility, a novel algorithm named conversely decentralized autonomous control is put forward on motion planning when considering orientation.To testify the feasibility and probe more into the kinematics and dynamics, anopening experiment platform based on the peg-hole assembly manipulator has been set iiup This platform has favorable robustness and exploring characteristics ,on which PTP control and motion planning etc. can be carried out.In conclusion, the successful development on peg-hole assembly robot manipulator and establishment of control system provide an experiment platform for the further investigation. Meanwhile, it is undoubted that there are some realistic meanings in our country during the initial study of the economical modular robot. |
