Dynamics Analysis And Research&Development On3R-P Multi Joint Manipulator

As known to us, the robot dynamics is mainly devoted to the relationshipbetween force and motion of the mechanism. Undoubtedly, it is the robot that is a complexdynamic system, which comprises a plurality of connecting rod and joint with a sea ofinput and output, provided with a perplexing coupling and serious nonlinear. In orderto meet the need of dynamic simulation and the design of robot controller, the research onrobot dynamics is extraordinarily important.Based on the automatic material system of crankshaft, dynamics analysis alongwith development and research is implemented feasibly according to its owncharacteristics, aimed at a certain effect on boosting production efficiency with theimprovement of the automation level.Firstly, in line with the actual conditions, the selection of mechanical system of themanipulator is in progress, determining the scheme as below, including thestructure form, the basic parameters, besides the transmission and drive form, accompaniedwith checking related parts in great detail.Secondly, dynamics analysis of the multi joint manipulator is conductedmethodically, proving the fact that Lagrange dynamics equation and Kaine equation canbe transformed into each other. Through the combined application of Kainedynamics equation and Lagrange equation, a brand-new idea of robot dynamics equationthe universal property of which is testified subsequently is presented solidly, used widelyin the multi joint manipulator.Finally, relying on PRO/E, the virtual3D model of the manipulator with threedegree of freedom is established, and then imported into ADAMS dynamics simulationplatform to simulation analysis painstakingly. Through the analysis, the characteristiccurve of (angular) velocity,(angle) acceleration and driving force (moment) is obtained,verifying the rationality of the structure, but also providing certain valuable data forthe design and development work of manipulator in the future. As a project with close relation between practical project theory and reality, thedetermination of structure, the selection of drive and transmission mode as well as thecreation as to the robot dynamics equation in terms of manipulator are made in athorough inquiry efficiently and effectively in this paper, with ascertain reference value tothe design of manipulator henceforth.