Optimal Design Method Of The Manipulator Structure Based On The Mobile Platform

With the characters of high flexibility, wide adaptability, low power consumption and so on, the manipulator system based on a movable platform has been used intensely in the area of disaster search and rescue, urban anti-terrorism, space exploration and what’s more, it has become a important directions of the robot development in the21century. Integrated the character with the structure of the manipulator, based on the research of the manipulator kinematics and dynamics theory, targeted to the analysis of the manipulator work space and operating power consumption, and based on the evaluation of the manipulator’s manipulability and moment of inertia, This paper put forward a project of optimum design for the structure of manipulator and intended to add its workspace flexibility as well as lower its power the consumption. The main research work was as follows:(1) A design project of the manipulator which based on the mobile platform was put forward. Focused on the structure of the mobile platform as well as the functional needs of the manipulator, the design specifications of the structure of the manipulator was settled down, and the operations such as structure、the number of joints、the structure of the joints and the drive type of this structure were researched. Then, the design project was put forward and a prototype has been developed.(2) The optimum design method of the working pace based manipulator’s rod size was solved. Based on the manipulator kinematics theory, a mathematical model in the D-H coordinate system for the manipulator was constructed. Through the sampling and analysis method, the forward and inverse solution of the manipulator’s dynamic theory was validated, and the reliability of the mathematical model has been proved. The effect of each parts of the manipulator to the workspace was analyzed and the effect factor was confirmed with the tool of MATLAB. Finally, a method based on the evaluation of manipulator’s manipulability was proposed.(3) The method of the structure optimum design to low the manipulator’ consumption was researched. The relationship between the manipulator’s structure and the consumption were analyzed with the kinetic theory. The manipulator’s the moment of inertia was made as the research object. Then, according to the manipulator’s structure character of Multi-shaft rotation, the manipulator’s inertia in real time was solved by the inertia tensor method. Finally, with the help of the simulation software, the relationship of the size of the manipulator and its consumption was analyzed. The factor to low the consumption of manipulator’s structure was attained.(4) According to the effects of the workspace and the energy consumption to the manipulator’s structure optimum design, an integrated structural optimum design method was proposed. The contradiction of increasing flexibility in work space and reducing operating power consumption of the manipulator by using the optimum design method was analyzed. The DARE method was used to design the weights between the manipulability and moment of inertia. Then an optimal design method by combination of the two method was proposed, and the results was verified by the MATLAB.This paper integrated the two indicators which were the manipulator’s workspace and the operating consumption to make the optimum design of the manipulator’s rod size. The manipulator’s operating flexibility is enhanced and low the operating consumption as well as increased the payload/weight ratio under the condition of didn’t reduce its function. What’s more, the project has a certain theoretical significance and practical application value.