Kinematics Mechanics Analysis And Path Planning Of The Heavy-load Redundant Manipulator

As a kind of unlimited, clean and safe new energy, fusion energy is the world’smost important way to solve the energy problem. With the implementation of theITER (International Thermonuclear Experimental Reactor) program, manycountries have focused on the research of the robots used in nuclear fusionenvironment. In this paper, based on the analysis of robots’ feathers such as heavyload ability, big moving space, flexible movement and remote control under nuclearfusion environment, it has given an overall analysis of the heavy-load redundantmanipulator, mainly focused on the kinematics analysis, mechanical analysis andpath planning of the manipulator and building an interactive platform to accomplishthe simulation and experiment of the manipulator.Firstly, the kinematics of the heavy-load redundant manipulator is analyzed.Based on the overall analysis of the large-scale heavy-load robotic teleoperationsystem, the kinematic model is established and the direct kinematic problem isanalyzed by D-H method. Considering the redundancy characteristics of themanipulator and its working environment, inverse kinematic problem is solvedthrough the gradient projection method with optimization of obstacle avoidance.Secondly, the mechanics of the heavy-load redundant manipulator is analyzed.The statics and modal analysis are completed by ANSYS Workbench, and theoverall deformation diagram, mises stress nephogram, natural frequencies and modeshapes are obtained. It verifies that the structure is reasonable. Meanwhile,dynamics equation is deduced through Lagrange equation method and resulting inthe torque formula. A uniform arc motion is analyzed by dynamics equation.Besides, the movement is simulated in ADAMS virtual environment. Then comparethe results from calculation and simulation, and it proves that the derived torqueformula is right and the arc motion is feasible.In addition, the path planning of the heavy-load redundant manipulator isanalyzed. The whole path of the manipulator is divided into two phases based on itstask and working environment. One phase is finished through RRT path planningmethod, and the other one is finished through arc path based on the gradientprojection method with optimization of obstacle avoidance. Then the two methodsare analyzed and simulated by MATLAB, and it validates the feasibility of the pathplanning.Finally, the interactive system of the manipulator is built and the simulation ofthe virtual manipulator and experiment are accomplished. In addition, it also validates the feasibility of kinematic analysis and path planning of the manipulator,as well as the reasonableness of the structure design of the manipulator. Meanwhile,the system is a basic platform to complete the whole robotic teleoperation system.