Design And Research Of Motion Control System For The Rope-driven Flexible Manipulator

Although the mechanical structure design and motion control of the traditional robots are very mature,but most of traditional robot manipulators connected by rigid joints,such there are strict requirements for their respective work space environment.The complex environment facing the highly unstructured,narrow and irregular obstacles,the traditional mechanical arm because of its rigid structure,the obstacle avoidance ability is limited,with poor flexibility and movement space constraints,the traditional mechanical arm will not be able to efficiently finish the homework.The software robot manipulator inspired by trunk and octopus tentacles is a bionic manipulator model,with high sensitivity,can have up to an infinite number of degrees of freedom,the unpredictable environment and unstructured space operations can be completed very well.In this paper,based on the study of the characteristics of two kinds of manipulators,the structural design of a hybrid joint manipulator is presented,which combines the advantages of high rigidity and high flexibility.The main contents of this paper are as follows:The structural design of the hybrid joints,analysis the advantages and disadvantages of the continuous flexible body and rigid joints under different connections,established the mathematical model under different connections,is simulated in three-dimensional space of the range of motion by using MATLAB,analysis and comparison of the simulation results,in order to determine the optimal mixed joint connection.According to the characteristics of hybrid structure and continuum rigid joint drive hybrid joint analysis method,analysis of kinematics modeling of hybrid joints with D-H matrix,and combining with the geometrical analysis,derivation of joint angle,kinematics and the relationship between the variation of the rope drive.The integration mechanism,the drive and the control unit are used for the system integration of the wire driven flexible manipulator.Based on the test platform of the prototype,the trajectory planning of the hybrid joint movement of the flexible manipulator,and the movement of the polynomial curve fitting and error analysis,put forward the S curve of stepper motor control algorithm,finally the prototype experiment.In this paper,based on the analysis method of the traditional robot manipulator to study the structure characteristics of hybrid mechanical arm joints,this paper introducesthe mixed joint flexible manipulator kinematics modeling and analysis,the software and hardware designs of the control system,control method and prototype experiment.