Mechanism Design And Analysis Of Rubik’s Snake-like Manipulator

Modular reconfigurable robot is composed of a lot of relatively independent function, mechanical and electronic module and has a certain perception is composed of the robot, according to the change of deformation tasks and the surrounding environment and autonomously change structure with its placement, with the best configuration to complete the task of different modern industrial robot manipulator; the earliest, it can replace human labor in order to realize the mechanization and automation of production, can operate in order to protect the personal safety in hazardous environments, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. The ingenious combination of the two not only expanded the scope of application of robot, the homogeneity of the module and interchangeability of reducing the manufacturing cost and the maintenance cost, improves the reliability of the mechanical arm and scalability. This kind of robot has a great advantage in the dangerous, unknown and unstructured environment, such as space, marine, military reconnaissance, rescue, repair the ruins of nuclear power plant and so on.This paper presents structure a Rubik’s snake like manipulator, and analyze the structure design and simulation. The main contents include:contrast and structure design, mechanism system of suspension insulator detecting robot kinematics and dynamics simulation, configuration research and experimental analysis of four aspects.First of all, according to Rubik’s snake like manipulator working environment and tasks, on the basis of former magic ruler snake toy proposed mechanism configuration of a new modular flexible mechanical manipulator. The agency system is mainly composed of a casing body and a limiting mechanism. Implemented by a gear driven module rotation and accurate stop at specific locations, meet the accurate stop simple contains more than one module mechanism to realize the mechanical arm in steering control of rotation and arbitrary angle, thus forming a different stable configuration and function, and the key components of the static analysis using finite element software.. Secondly, carrying on the kinematic analysis of mechanism, and through the method of screw theory to the mechanical arm makes the kinematics positive solutions by using graph theory, the method of inverse calculation; and the simulation of virtual prototype in the MD ADAMS software, verify that the institution can be scheduled to complete the task, correct check the motor selection.Then, the configuration is studied, the first configuration representation method is defined; then the isomorphism detection and interference detection to complete the configuration counting, and explained between the motion sequence module and interference have the connection of the two; finally, through a simple example to illustrate the correctness of the method.Finally, the processing of structure design, good use of Solidworks engineering drawing processing drawings and parts, and assembly production prototype contains three modules; Matlab prepared using several simple configuration of the exercise program, and the prototype of simple experiments to verify its rationality and validity.