Research On The Technology Of Modular Joint Of Six Degree Of Freedom Mechanical Arm

In recent decases, with the rapid development of manufacturing, at the same time, the industrial robot technology has also obtained the rapid development. Most of the industrial robots have four-six degrees of freedom of movement, of which two-three degrees of freedom determines the position of the end effector in space, the rest two-three degrees of freedom determines the attitude of the end effector in space.In industrial, the most common application is the six degree of freedom mechanical arm. It is a kind of industrial robot which composed of six independent rotating joint, each joint has a set of independent control system.This article puts forward a design method of modular joint through the research of the existing six degrees of freedom mechanical arm in domestic and overseas. Based on the comparison of different driving mode, tranmission mode, we obtain the structural design of modular joint.By analyzing the wiring form of joint and combining the selection of modular joint parts, we completed the wiring design. Researching the different configurations of six degrees of freedom mechanical arm and summing up the advantages and disadvantages, the modular joint was cascaded six degrees of freedom mechanical arm according to different combination forms, the overall design scheme of six degree of freedom manipulator was put forward.Based on the completion of the six degree of freedom mechanical arm structure, the kinematics is analyzed, so as to provide theoretical basis for motion control and teaching function; finally the dynamic simulation of the mechanical arm verifys the selection of driving element and tranmission element is feasible, and according to the simulation data, the finite element analysis of key parts was did to prove if the strength and stiffness meet the material performance requirements.