Mobile Robot Manipulator Robot Design And Analysis

This paper takes the project "special mobile robot of multifunction" as the study background, design the manipulator of the mobile robot. So the mobile robot can catch things and finishes the special mission in a city.This paper designs the structure of the manipulator and finishes its AutoCAD design. Use the PRO/ENGINEER to model, assemble and simulation the manipulator, then use the model study to work out its mechanical parameters. This paper studies the solution of kinematics equation of the manipulator by establishing Descartes coordinate of the manipulator and applying coordinate transformation to derive converse and positive equation of the manipulator. Furthermore, this paper establishes the workspace, studies its, agility and existence of the inanition and cavum. At the same time, this paper uses the Newton-Euler arithmetic to establish the manipulator dynamics equation.This paper finally puts forward the control strategy of the manipulator. And it gives an idea for the controller making that would be made later.