Kinetics Analysis And Parameter Optimization Of Flexible-macro Rigid-micro Manipulator System

This paper mainly focuses on the dynamic modeling, characteristics and scale effect anaysis of the flexible-macro rigid-micro maniputator system, and the validity of the maniputator system is verified. Based on the analysis of the results, the optimal scheme of the flexible-macro rigid-micro manipulator is put forward, and then the experimental platform of the system is established. The simulation results are compared with those of the experimental platform at the same condition, which shows the simulation results are correct.First of all, based on the flexible multi-body dynamics(FMD) method, using the finite element method and the second Largrange Equation, the dynamic model of the flexible macro manipulator system is established. In the rigid micro manipulator modeling, it can be regarded as a special kind of flexible macro manipulator, and do some special treatment on rigid micro manipulator. According to the modeling method of flexible macro manipulator, the whole dynamic model of the flexible-macro rigid-micro manipulator system is established. Then, using MATLAB simulation software, simulation is carried out for two-flexible two-rigid manipulator system. The simulation results of MATLAB are compared with those of RecurDyn dynamic simulation software at the same condition, which shows that the dynamic model of the flexible-macro rigid-micro manipulator system is correct.Secondly, according to the above-mentioned dynamic modeling method, the dynamic model of two-flexible two-rigid macro-micro manipulator system is established. And in the case of being given the joint angular motion or tip trajectory motion, the simulation is carried out by changing the system acceleration by using MATLAB. The system acceleration is used 3 forms, which are the same acceleration, cyloid type acceleration and quintic polynomial type acceleration. Then, the end point trajectory error of the flexible-macro rigid-micro manipulator system could be gained. Comparison of the end point trajectory error of three different situations, the influence of the manipulator system is analyzed by acceleration. Afterwards, the structure parameters, physical parameters, section parameters and kinematic parameters of the flexible-macro rigid-micro manipulator system are given. The structure parameters are fixed, and the other parameters are changed. The curve of the end point trajectory error could be acquired in the condition of different length ratio, different sectional area ratio, different materials and different trajectories, then analyze its scale effect. At last, in which conditions, the error of the system is minimum. These conclusions have extremely important significance and reference value for further researching on the dynamic characteristic and optimization design of the flexible-macro rigid-micro manipulator system.Finally, the experimental platform of the flexible-macro rigid-micro manipulator system is designed. The basic structure and working principle of the experimental platform are introduced at great length, and the main bars are checked. The end point trajectory of the micro manipulator system could be obtained by using the MATLAB simulation software, and then compared with the experimental results, the simulation results are correct.