Research On Trajectory Planning And Dynamics Of Manipulator

As the representative of the robot;manipulator has made great progress in the industry;penetrated into all walks of life,and plays an important role.This thesis is based on the key research and development plan of Shandong Province,`the Key Technology Research of Tai Chi Pushing Robot',and the manipulator is the research object.This thesis lays the theoretical foundation for the development and design of the project,and includes the following parts:(1)In this thesis,the forward and inverse kinematics of the manipulator is studied,including the mathematical basis of the modeling of the manipulator,the establishment of the joint coordinate system and the D-H representation.The size of the manipulator design is determined by the biomechanics of human body.The D-H representation is used to build kinematics equations of the manipulator.The kinematics equations are solved,and the solution of the forward kinematics equations is obtained.Then,the expression of the solution of the forward kinematics equations is calculated by MATLAB.According to the D-H parameters,the simulation model is established in Robotics Toolbox,and the expression of the kinematics equations is verified by comparing the calculation results of the program calculation and the calculation results of the toolbox.(2)The trajectory planning of manipulator is studied.Research on trajectory planning involves two aspects of joint space and Cartesian space.The trajectory planning of joint space is mainly concerned with polynomial interpolation algorithm and linear interpolation algorithm with parabolic transition,and the calculation method of interpolation algorithm is given in this thesis.Trajectory planning in Cartesian space includes linear trajectory and circular trajectory planning algorithm,and the generation method of arc trajectory function is studied in detail in particular.(3)The mechanical analysis of the manipulator includes two aspects,one is statics analysis of the manipulator in equilibrium state,and the other is the dynamics analysis of the manipulator in the state of motion.Statics describes the equilibrium state of the force between the end of manipulator and joints,and the corresponding statics equation can be gotten by Jacobian matrix.The dynamics describes the desired joint torque output to cause the manipulator to reach a state of motion.The dynamics equations of the manipulator are established by means of Lengrand's mechanical analysis method.(4)The trajectory.planning algorithm and dynamics of the manipulator are simulated and analyzed.The trajectory planning method is simulated by MATLAB.The simulation results are analyzed,the effectiveness of the trajectory planning method is compared,and the correctness and rationality of the trajectory planning are verified.The solid model of UG is introduced into Adams to establish the simulation model,and the torque curve of each joint is obtained.It provides the reference for the design of the mechanical arm and the selection of the motor.