Study On Service Robot Arm And The Control System

In view of the present fact of our country that the structure of the robot arm tends to be complex,the quality is too heavy,and the motor efficiency is low,which cannot meet the requirements of lightweight and dexterity of the robot arm.In this paper,from the point of realizing lightweight and dexterity of the robot arm,the driving method of push-pull flexible shaft and connecting rod mechanism is put forward.The design of robot body is completed.Based on the motion characteristics of the robot arm,the motion controller and motion control software are developed.In the design of mechanical structure,the push-pull flexible shaft and connecting rod mechanism is adopted.The motor of each joint of the service robot is mounted on the chassis.On this basis,the 3D model of the service robot is designed and the prototype is made.Focusing on the design of the arm of the service robot,the feasibility of the design of transmission is verified by dynamic simulation software.Under the condition of the same drive motor,the load capacity of the push-pull flexible shaft and connecting rod mechanism is greatly improved compared with the traditional transmission design.High efficient barrier-free transmission of the torque in space is realized,the structure is simplified and the development cost is reduced.In the design of motion controller,based on the characteristics of the movement of the arm.The design of the controller adopts master-slave management architecture;the efficiency of multi-task parallel running is greatly improved.Focusing on the design of integrated motion control module of the stepper motor,to solve the problem of large volume and high cost caused by the separation of drive and control of the traditional stepping motor.To meet the requirements of follow-up control of the service robot,controller extension module is designed.In the design of software control program,according to the application characteristics of mechanical arm and motion controller,?C/OS-III operating system is transplanted on the master-slave MCU and the function of each module is tested.Through the basic test,the designed service robot arm and key technologies of the control system operated correctly,the corresponding function is realized,the results show that the overall design scheme is correct and feasible,which provides a good support for the subsequent development of service robot arm.