PRRR Manipulator Mechanism Analysis And Research For Movement

In the21st century, manipulatoris paid more and more attention，in the mechanicalindustry, mineral industry, logistics industry and so on is got more in a wide range ofapplications。With more and more applications, the degree of manipulator is paid more andmore close attention by people，In fact manipulator is a small part of robotics, but it hasmany characteristics of the robot, its core is thinking will together sensing and actions.The authors have seen many the robots literatures at home and abroad andcorresponding product introduction, emphasis on the manipulator operation problems. Andthe manipulator is four degrees of freedom. This manipulator in athletic process isconsidered end effector passing path iby each joint rotation angle of the correspondingvalue of the decision. the various joint angle vary are able to find out the end effector ofthe space location. The end effector in motion of manipulator is important position, so thepaw is taken as an important analysis object. Inmotion process, manipulator can drivemanipulator paw implement command action by the control unit changing accuratespecific parameters (each joint angle, etc.), manipulator action finishe in accordance withpremeditation track order, and can satisfy the operator required task.In the design requirements,, we have reduced the design range, manipulator is set toloading and unloading process of manipulator, This manipulator application scope is wildand strong ability to adapt to market. So the manipulator is selected for four degrees offreedom, the problem will be solved as follows.Manipulator linkage parameters and connecting rod coordinate system can build thethecorresponding comparison kinematical equation for people. H-D is used to study eachaxis joint angle changed and position, and finally solved positive solution of inversesolution of kinematical equation.After theoretical basis, We study the manipulator trajectory planning problems.Trajectory is formed the curveby end effector in space motion process. According to themanipulator path point, trajectory planning,by using the cubic polynomial interpolation to find out varies of each joint angle, and then find out the coordinates of the end effector.Using Matlab software to PRRR manipulator for3d modeling, In Robotics toolboxmodule simulate the system, motion analysis by Robotics toolbox module. it is concludedthat the various parts of the motion characteristic curve, for the subsequent research (suchas dynamic analysis, etc.) to provide basic theory reference and calculation basis.