Design And Research On Flexible Arm Experimental System

As the advancement of the robot technology and aerospace technology, the robotic system develops towards high-speed, light, low-power direction. Because of its light weight, the inertia of small and low power consumption, Flexible Manipulator has become the research hot spots. Controller design and dynamic modeling of flexible manipulator are advanced topics in robot technique research area.In this paper, I design one three-degree-of-freedom flexible arm experiment platform,on the target of concrete pump truck.Through flexible arm’s vsualization modeling,study the machine mechanism dynamics question. My jobs are as follows:(1) Design one three-degree-of-freedom flexible arm experiment platform, on the target of concrete pump truck. And choose the right servo motors and gearboxs,design some connector-related.(2) The flexible arm’s vsualization modeling was designed with SOLIDWORKS, worked Static Analysis with ANSYS. Verify the reliability of parts-related. Do some optimal design about the three-degree-of-freedom flexible arm experiment platform.(3) Based on the PMAC open control card,design the control system of the robot,and used to the control of the flexible arm.(4) Build the dynamic model of the3-DOF of the flexible arm,and simulink the action by ANSYS and ADAMS.This system presents very well the structure, working principle, and working process of concrete pump truck. It can also be used for research on dynamic modeling for flexible arms as well as new control policy.