Analysis And Simulation Of Kinematics Of Two3R Underactuated Cooperative System

The robot coordinate system, if there are some underactuated joint in some of the robotsless, is called underactuated robot coordination system. Underactuated robot coordinationsystem has the advantages of underactuated robots and robot coordinate systems, thus thispaper put forward kinematics analysis and simulation of underactuated robot coordinationsystem. On one hand, this system enrichs the field of robot, on the other hand, the analysisprovide some basis study of underactuated robot coordination system in various fields ofapplications. In summary, the research in this paper has important theoretical significance andwide application prospect. The main research content and the arrangement of chapters andsections of this paper are as follows:The first chapter mainly analyzes the present status of underactuated manipulator, robotcoordination system and the underactuated robot coordination system at both home andabroad. The advantages and disadvantages of various robot systems are summarized, whichleads to the research content of this paper.The second chapter studies the kinematics and dynamics of both single arm robot andunderactuated robot coordination system. Kinematics is described from two aspects ofkinematics and inverse kinematics. Then analysis the robot pose constraints, the velocityconstraint, acceleration constraints and joint generalized force. At the end, we achieve thedynamic modeling of the3R planar underactuated manipulator and two3R planarunderactuated manipulator coordinate system.In the third chapter, taking the3R planar underactuated manipulator as the research object,we plan the path with the time scaling and design the sliding mode variable structurecontroller, its effectiveness is verified by digital simulation in MATLAB.In the fourth chapter, the two3R planar underactuated manipulator coordinate system istaken as the research object. First of all, virtual prototype is established in the ADAMS, thenthe joint simulation of ADAMS and MATLAB is proceeded.The fifth chapter summarizes the paper, and point out the further research content andsignificance.