Research On Design And Positioning And Path Planning For A Wheeled Mobile Manipulator

In the context otf the current uneven development of China's manufacturing industry and the country to vigorously promote the "Made in China" to "China Intelligent Manufacturing"changes.The "machine substitutions" has become the current development model of China's manufacturing and industrial restructuring of the only way. The wheeled mobile manipulator combines a wheeled body and an operating arm, which makes the manipulator have unlimited operating space and higher flexibility, and has great application prospect in the manufacturing industry, especially in the industry which have traditional Chinese culture background is more obvious. In order to solve the automation and upgrading requirements of the process, the main work of this paper is as follows:A wheeled mobile manipulator is designed which comprises a wheeled body and an operating arm. According to the task requirements, the design parameters of the manipulator are determined, the selection of the body drive mode and the configuration of the manipulator are completed. The force analysis and the component selection are carried out to complete the structural design of the body and the manipulator. The three-dimensional solid model is established. The mechanical arm configuration scheme is in accordance with the requirements of modularization, lightweight and low power consumption. The ANSYS finite element software is used to analyze the force deformation of the body drive wheel and the manipulator,and the local structural parameters are optimized.The kinematic analysis of the wheeled mobile manipulator was carried out. The kinematic model of the wheeled body and the manipulator is established respectively, and the method of the reclining of the wheeled body and the kinematics of the manipulator are given. On this basis,the moving method is established by the homogeneous coordinate transformation method. The overall kinematic model of the manipulator is drawn and assigned the working space of the manipulator, which lays the foundation for the robot motion control.Aiming at the precise operation requirement of the end actuator in the vicinity of the working position, a multi - sensor secondary location scheme and method based on ultrasonic and visual are presented. In the process of body movement through the front of the body side of the ultrasonic sensor to achieve the relative positioning of the altar; in the robot reaches the job position, through the end of the robot camera close shooting, to achieve the precise positioning of the relative altar; The results show that the wheeled manipulator can accurately cover the cover above the altar, and the method of scanning the sensor is carried out by ultrasonic scanning data. , To achieve the operation of mobile arm relative to the precise positioning of the object..Aiming at the requirement of multi - position continuous operation of wheeled manipulator,a method of progressive path planning for progressive artificial potential is presented. Based on the improvement of the artificial potential field method, the position of the actual jars is relied on the real-time detection results of the ultrasonic sensor during the operation of the mobile manipulator, and a progressive path planning algorithm is proposed. The method of introducing the multi-target point gravitational force is used to guide the moving body of the mobile manipulator in the desired direction. The virtual diving method is used to improve the smoothness of the planning trajectory. The simulation results show that the method is used to plan the mobile Arm body is effective and feasible.