Design And Experiment Research Of A Flexible Inchworm Pipe Robot

With the development of science and technology, the modular manipulator has been widely used. In some specific areas, due to the requirements of the application of the modular manipulator is increasing, the modular manipulator in space tends to be more refined, and tasks become more complicated. However, due to the modular space manipulator affects its own structure; the space modular manipulator arm has the inevitable issues during the task:dynamic error, hysteresis, nonlinear stiffness and others. The traditional and simple modeling methods can not address the current demand, so we need further research to refine the model joints. In accordance with national973National Project, this paper presents a detailed model of joint dynamic hysteresis error and modeling methods, as well as the joints are designed.On the basis of analysis of domestic and modular space manipulator research status and combined the design requirements of the task, I have finished the overall program design and analyzed demonstrate manipulator. Based on the analysis of the space manipulator ground test platform, I have finished the entire manipulator overall configuration design, carried out using three-dimensional software for mechanical modeling and virtual assembly structure. According to the requirements of the experimental platform design, the specifications of manipulator was proposed, finally the manipulator overall program design was finished, which including the specific dimensions of each part of the robot arm, the positioning accuracy of the calculation and kinematics modeling.According to the technological requirements of the space manipulator ground experimental platform, I have analyzed the joint design specifications and the performance of each part of the joint, finished joint major parts selection. By analyzing the joints, the torque which received the greatest impact parts can be analyzed. Using three-dimensional software to model the main force components, check the strength of these components, I have got the results which showed that:manipulator design and installation of components can meet the requirements, as well as the entire joint drive and the key components can meet the strength requirements.Based on the subject of mission requirements, I have detailed analyzed the manipulator of the model and the output characteristics of the joint, proposed a new model contains the relevant section of the hysteresis error of manipulator joint movement, researched the causes of the existence of motion errors and hysteresis. According to the study of characteristics of manipulator output, I have completed the modeling of joint movement and joint hysteresis error. In simulate software, I have built a simulation model and conducted research on model simulations. The results showed that:the model reflects the actual characteristics of the joint, which provided a theoretical basis for the model-based control.To verify the correctness of the thesis research output characteristics manipulator theory and the correctness of the model include joint motion hysteresis error which was proposed in this paper, I have built the experiment platform of the characteristics of the joint verification, designed the joint interface parts and the experimental platform. At last, I designed the verification test and completed the manipulator error and hysteresis joint experiments on experimental platform. And I have verified the correctness of theory of the joint hysteresis error, as well as the model built.