Kinematics Study And Link Size Optimization Of 6DOF Modular Manipulator

Reconfigurable modular robot arm is composed of a series of characteristics and certain assembly relationship with function of different size of joints,connecting rod and actuator module,each module is connected by electric and able to work different spaces and the degrees of freedom mechanical arm structure.Modular robotic arm relative to the traditional industrial robots has a wide scope of work,high interchangeability,low cost,the advantages of the modified maintenance,portable,so the research of the modular mainpulator technology has been one of the hot topic in the field of robot technology.The topic is derived from the key project of natural science in universities of anhui province"robot arms system map building and humanoid motion planning method of operation".The project to the robot arms system as the research object to map of mechanical arm operation ability,and combined with the movement of the human arms to personification of motion planning method research robot arms.Which is based on the project,the research content mainly incloudes:kinematics modeling and analysis of the mechanical arm,the ability of mechanical arm kinematics parameter calibration map drawing,manipulator kinematics calibration and arm size optimization of connecting rod of four aspects,thesis mainly work as follows:(1)Modular construction of six degrees of freedom manipulator arm system.The thesis briefly introduces the research and development of distribution service robot mechanical structure and control systems,focuses on the modular manipulator design and structural characteristics,focuses on the modular design requiremnets and construction features of mechanical arm,further analysis of the mechanical arm joint module connector between the structure characteristics and design of module structure,completed the manipulator system hardware platform to build.(2)Modular manipulator kinematics modeling and analysis.DH method is used to describe the structure of modular mainpulator parameters,and the kinematics equation of mechanical arm is derived;With the combination of using algebraic elimination mrthod and the space geometry method to solve the inverse kinematics promble of robot arm;To solve the Jacibi matrix of mechanical arm by applying of wector product method,and to apply toolkit build modular robot manipulator virtual simulation platform under the environmen of MATLAB software to simulation and verification about the mechanical arm forward kinematics and inverse kinematics.(3)The solution of the mainpulator workspace and the drawing of the operation ability.Reference points at the end of the mechanical arm was deduced work space numerical expression,and with the aid of 3d modeling software Solidworks and MATLAB to further solve the mechanical arm 3d work space,and the reference point at the end of the mechanical arm work space discrete,the position and posture of indicators based on space drawing mechanical arm inside its working space map of operational capability.(4)Modular manipulator kinematic parameter calibration.On the basis of mechanical arm motion analysis,establishing error calibration model of mechanical arm,and with the help of MATLAB software compiling error model of the solution.,using of laser tracker as a data measuring instrument,application of the method of relative position error to mechanical arm kinematics parameter for calibration and compensation to improve the absolute positoning precision of the robot arm.(5)Based on the overall performance and the local performance index analysis of the mechanical arm connecting rod size optimization.According to the structure characteristics of the mechanical arm to analy the distribution of the connecting rod size,based on the mechanical arm of global and lacal flexible performance index design of orthogonal test optimization analysis was carried out on the connection rod dimensions of mechanical arm,eventually making the mechanica arm has a better overall performance index of connecting rod size.Ralated research in the thesis will contribute to follow-up the personification of mechanical arm motion planning study,and the thesis has the positive academic significance and important practical significance to the application field of modular robot arm.