The Structural Design And Trajectory Control Study Of The Three-degree Of Freedom And Articulated Type Mechanical Arm

With the progress of science and technology,more and more the manipulator applied to in industrial production,which is play an important role.The development of robot technology and wide application,and promote the improvement in people's life,promoters productivity and the progress of the society as a whole.Based on the three degrees of freedom mechanical arm as the research object,the mechanical parts,kinematics,dynamics and control for design and analysis,mainly done the following work:(1)For the mechanical structural design of three degrees of freedom mechanical arm,the main content are important parts of transmission scheme design and checking.The continuous development of intelligent robot technology and its widely application in the production and living,continuously improve People's Daily life,and promote the improvement of social productivity and constantly promote the progress of the social production..(2)Through the cartesian coordinate system,using the method of d-h parameters of each connecting rod set up coordinate system,by the relative position between two adjacent coordinate system,the attitude of the homogeneous coordinate transformation of mechanical arm trajectory is described,the kinematics equation described robots running state,and then establish the robot's kinematics equation,thus establishing the kinematics of robotic arm model,analysis of kinematics and inverse kinematics,solving the jacobian matrix of the manipulator.Introduces two methods of inverse,algebraic method and geometric method,based on three degree of freedom mechanical arm focuses on geometric method and algorithm.(3)The trajectory planning of mechanical arm are analyzed in detail.According to the kinematic equation of mechanical arm was established through homogeneous coordinate transformation and dynamic model of the mechanical arm joint space and cartesian space robot arm movements and trajectory,discusses the mechanical arm in the spatial point by point comparison method of linear interpolation.Finally,the correctness of the algorithm based on interpolation trajectory is verified by experiment.