Serial Manipulator Design And Simulation Analysis

In the1960s,the first generation of the robot Appeared,which was first used inindustrial production,its universal application is a great accomplishments of the20th centuryscience and technology.There has been a lot of current industrial robots.Intelligent wheelchair robot as an important research direction service robot, mobilerobot is a hot research. Intelligence is usually attached to the wheelchair as an auxiliary arm,the performance of the entire system is an important part of the performance, which isinseparable from its structure. So manipulator robot mechanism design is the key technologyresearch and development. Some features of the service robot manipulator arm as alightweight, lightweight design specifications must have arms, namely light weight, small size,the appearance of fine, large work space and so on.In manipulator service robot for the object, this paper proposes a new design method,mainly for the construction and analysis of robotic manipulator kinematics hardware platformHardware platform built in the manipulator, the first manipulator configuration wasdetermined and analyzed by the human arm movement mechanism, the contour of the arm asthe study of human basic design configuration of the robot arm; then the driving torque on thejoints calculations, carried out the motor and gear selection; combined UG specific design forthe robot arm, which is based on the joint drive component dimensions and their installationin the form of the manipulator rod design and continuous optimization. In order to verify thedynamic performance of the drive in front of the correctness of component selection andoptimization of the robotic arm, the robotic models into Adams dynamics simulation togenerate a change in the torque of each joint; Ansys finite element analysis softwarecomponents for robotic joints a static analysis, and the entire framework of robotic modalanalysis carried out to verify whether the robot arm rigidity and positioning accuracy to meetthe requirements. Meanwhile stm32f103manipulator controller is designed to show theschematic.Then the kinematics analysis, first a mathematical model of the robot arm, including the determination of the structure diagram drawn to establish the coordinates of the model, themanipulator rod parameters; then carried forward and inverse kinematics were solved, thepreparation of the forward and reverse solution solver; combine MATLAB toolbox validatedrobot simulation and robotic manipulator forward and inverse solution. Then conducted atrajectory planning, also carried out using MATLAB tool path planning simulation.So, the hardware design of robotic manipulator manufactured to lay the foundation, togetherwith kinematic analysis and trajectory planning for the post-manipulator motion control basis.