Research On Macro-micro Manipulators System Kinematics And Control Strategy

Focusing on the macro/micro-manipulator kinematics and control methods, this paperhas developed a manipulators structure with two flexible/two rigid links, and established amathematical model of macro/micro-manipulators. Analysis the influence of parameters to theinherent features of the macro/micro-manipulator. Study the method of Suppressing themacro-manipulator,and the method works very well.In this paper, using a Kineto-Elastodynamic analysis (KED analysis) to establishmacro-manipulator model. we get the errors of endpoint both in the X direction and Ydirection of the second flexible link. Under the same conditions with the model above, usingdynamic simulation software simulate this models. Compare the results of the two models,they are basically the same. Simulation results of macro/micro-manipulators system indicatethat this scheme is effective.The influence of design parameters to inherent features of macro/micro-manipulatorshould be noticed. which including the arm length, cross-section parameters and physicalparameters: modulus of elasticity, density and other factors of the macro/micro-manipulatoreffect on the errors of the endpoint. Mass parameter and damping of the model influent thestability of macro/micro-manipulator system.Compare to the macro-manipulator, themicro-manipulator is the lighter, the system of macro/micro-manipulators is more stable;themacro-manipulator is the stiffer, the system of macro/micro-manipulators is more stable.Suppression for vibrations in flexible macro-manipulator, based on the control principleof PD. working on required joint torque of the micro-manipulator to suppress vibrations in theendpoint of macro-manipulator. Respectively. Simulation results of compensation forvibrations of macro/micro-manipulators system indicate this scheme is effective.