Design And Kinematics Analysis And Dynamic Characteristics Of The Magic Cube Robot Arm

Along with the science and technology development day by day, the use of robots is becoming more and more popular. It is not only widely used in the manufacturing sector, industrial production, has been widely used in aerospace, marine exploration, hazardous and harsh conditions in the special environment. How to quickly develop the robot to meet the needs of the robot to improve the performance of the research targets, has become urgent need to solve the problem.In order to meet the requirements of actual working conditions, this paper design a kind of arms of the Rubik's cube solving robot. In order to design a successful and reliable, this paper mainly completed the following major work:(1)The overall structure of the robot design, focus on the robot's mechanical arm design, provides the drive mechanism of the implementation of the program and do some analysis, each joint of the robot drive mode and the joint reducer were selected, and the mechanical arm, mainly carrying the strength analysis, to ensure its reliability;(2) In view of the mechanical arm were kinematics analysis and the simulation model, using D-H analysis method to establish the mechanical arm of the connecting rod coordinate system, has been at the end of the mechanical arm actuator of the mechanical arm base transformation matrix, respectively. The robot arm kinematics was simulated by using Toolbox Robotics in matlab, and the correctness of the positive solution and inverse solution was verified;(3) Study on the dynamic characteristics of the mechanical arm, and from the mechanical arm parts installation, joint structure of coaxial degree to harmonic reducer, encoder position analysis of key components of the error source and the error sources of analysis and modeling. Use the Software Solidworks plug-in simulation module of mechanical arm of the modal analysis, get the in the process of movement mode, natural frequency and dynamic characteristics and comparative analysis, ensure that the structure design of the rationality and reliability.The solution to Rubik's cube robot (joint) degrees of freedom mechanical arm based research, for the future more in-depth study other problems of the mechanical arm to lay a good foundation, which provides a theoretical reference and basis for the study of dual arm robot.