Research On The Design Of The Modular Manipulator And The Control Of The Motion

With the development of the society and the progress of science and technology,the mechanical arm has become the important productivity tools,but now,with the popularity of mechanical arm in all walks of life,the design of the mechanical arm is put forward the higher request,generally the direction of the development of the mechanical arm is modular and more lighter.The modular manipulator is a set communication,control,drive,drive module in one combination module unit.According to the requirements of the task,it can combine into arbitrary configuration of mechanical arm again.Due to the modular manipulator has extensive adaptability and portable reconfigurable,this article designs a lightweight modular mechanical arm based on that and the main research content is as follows:First,I have finished the type selection of the robotic arm,and determined the DH parameters of the mechanical arm.According to the overall design of the mechanical arm index,I have analyzed the description and transformation between the space coordinate system,and finished the type selection of mechanical arm,and the calculation of the mechanical arm kinematics,including two parts,the positive and inverse solution.Then I have completed the analysis of reachable workspace through the Monte Carlo method and the positive solution of the mechanical arm,and determined the mechanical arm connecting rod length by the simulation of space and indicators of space.Second,I have completed the modular design of mechanical arm,and analyzed the strain of its key parts.I have completed the design of the mechanical arm joint module and the design of the fitting module,and determine whether conform to the requirements of the design index by the strain analysis of the key components especially the connector between the parallel joint,then finished the whole mechanical arm assembly,complete the assembly drawing.Then,I have completed the design of the control of the mechanical arm system,including hardware design and software design.The hardware design part contains the force analysis,the selection of equipment,the selection of validation and the circuit design;the software design part finished the analysis of motor control mode,the the analysis of the manipulator trajectory planning algorithm,and completed the design of the two sets of the console,one is based on VC6.0 console,the other is a console based on ARM11 embedded.Finally,I have completed the verification of inverse solution and trajectory planning algorithm in the simulation system and completed the experimental verification of mechanical arm joints.The console simulation system is completed the inverse solution of the mechanical arm,and shows the operation of the manipulator trajectory planning in the form of the three dimensional animation in the 3d virtual environment.I have completed the analyze of the basic indicators of various mechanical arm joint,and I have tested the one of the joints about the basic performance of testing and point to point test through the experiment.The basic properties test of the joint contains the joint torque test,the speed of the joint and the joint position error testing,the point to point test complete point-to-point motion process within the allotted time by given initial position and target position,specify the motor,acceleration,velocity,acceleration.