Impact Assessment Of The Junction Surface On The Precision And Stiffness Of A Modular Robot

The reconfigurable modular robot is composed of joint module and an end effector with the same interface,which has the advantages of convenient assembly and disassembly,low cost,convenient maintenance and so on.Compared with the traditional robot,the modular robot has a stronger ability to adapt to the environment and to expand the complex task.However,the modular robot not only bring in convenience but also brings some problems,such as introduced the junction surface between a plurality of modules,it is these modules with the surface affects the performance of the modular robot's accuracy and stiffness.Therefore,this paper has carried on the related research to the modular robot's junction surface,the main content includes the following aspects:1.In this paper,junction surface contact model is established based on the theory of contact mechanics and fractal geometry theory,considering the dynamic change of rough surface asperities in contact with the process from the micro perspective,and described of the microscopic mechanism,and then put forward the main effecting parameters in junction surface and the influence law of these parameters.2.By measuring the profile of surface roughness with different robot modules junction surface,and to calculate the cale coefficient G and fractal dimension D with the structure function method,further elaborates the influence of fractal dimension and scale coefficient in order to improve the performance of joint module robot.At the same time,combined with the finite element analysis and the modal test,the feasibility of the module robot's junction surface contact model is verified.3.Based on the contact model of the robot joint module surface,considering the force and deformation of the module surface,the error correction model of the modular robot junction surface is established.At the same time,considering the assembly error of the robot module and the force and deformation of the modular junction surface,the influence of junction surface to the pose accuracy of the modular manipulator is analyzed.4.The method is proposed for the conversion of stiffness,convert modular manipulator drive component to the output end and considering the stiffness of module junction surface and reveals the influence to the junction surface of modular manipulator for the rigidity ascending direction.In this paper,the impact assessment of the junction surface on the precision and stiffness of a modular robot is analysed,and from which aspects to reduce the disadvantages of modular robot and improve the accuracy and stiffness of the robot.Further improved its ability to adapt to the environment and to expand the complex task and made the modular robot can be more accurate in the future.