Design And Control Of The Multi-Segment Flexible Manipulator

Traditional Manipulator has been widely used in Industry and production.However,because of rigid structure,it cannot finish some tasks in the situation of complicated and meticulous environment.Based on hydrostatic skeleton,the flexible manipulator with flexible and portable structure can replace the traditional manipulator in some fields.Because of the difficult design in mechanical structure and precision control,it is necessary to further study and test.This paper focuses on the structure design and precise attitude control of a kind of wire-driven flexible manipulator.According to the structure characteristics and design of exis ting flexible manipulator,a kind of wiredrive flexible manipulator has been designed and made.The bending movement of centrosome can be realized by dragging the wires between the joints.According to the requirements of volume,weight and actuator strength,3D printing and metal machining are used to product the component,and the experimental test platform is built.According to the structural characteristics of the flexible manipulator,the kinematics and dynamics are modeled.In the kinematics modeling,the relationship among “wire length,attitude angle and terminal position” is built.Thereby the forward and inverse solution can be solved.The feasible tasks under the different valid segments are analyzed and solved.In the dynamic modeling,Lagrange method is used by building the equivalent rigid model,and PID method is used to analyze and simulate the control under the given attitude angle.In this paper,the hardware and software of the flexible manipulator control system is designed.The real-time observation of attitude angle can be realized by installing the attitude sensor on the main joint.The move control of the flexible manipulator can be realized by communication among main control board,attitude board and upper monitor.Thereby the motion performance is tested on the experimental test platform to verify correctness and accuracy of kinematic and dynamic modeling.