Kinematics And Dynamics Analysis Of A Manipulator

With the development and utilization of marine resources, as the executive mechanism of the underwater exploration, the function of underwater manipulator becoming more and more important. The manipulator is a kind of hydraulic driven and 5 DOF series structure manipulator. Kinematics and dynamics is the important content in the research of manipulator.Kinematics can reflect the change of the position among the components in the serial mechanism, and it is of great significance for the manipulator trajectory planning.Based on D-H method establishes the parameters and kinematics model aim at a underwater sampling manipulator made by myself.Since the manipulator’s structural characteristics of the adjacent 3 joints with parallel axes, by introducing a geometrical method to obtain the inverse kinematics’s closed solution.The closed solution is concise and easy to operate, meet the manipulator’s requirements in the operating environment of underwater, and provide the basis for the manipulator motion planning and trajectory control. The simulation model of the manipulator is established by MATLAB Robotics Toolbox.The toolbox’s ikine function has been an important method to get the inverse solution of industrial robot.By comparing with the results from the ikine function verify the superiority and feasibility of the closed solution.Dynamics can reflect the relationship between the movement of the mechanism and the joint torque vector, and have important guidance for the control and the stress analysis of the manipulator. In this paper, Lagrange method is used to analyze the dynamic of the underwater manipulator, and the standard equation of Lagrange’s dynamics is constructed. In this paper, some important parameters of the dynamic equation are given by the analysis and calculation, such as the pseudo inertia matrix, the equivalent inertia coefficient, the acceleration coefficient and the gravity factor.In order to accurately simulate the working state of the manipulator, the paper uses SolidWorks and ADAMS. The use of SolidWorks for three-dimensional model, and then import the ADAMS simulation environment.