Study Of Multi-degree-of-freedom Master-slave Manipulator Based On Ultrasonic Motor

With the exploration of the ocean,the research ofrobots for ocean exploration has become become more and more important.Robots are used in ocean exploration.In ocean exploration,the motor needs to withstand high pressure.The motor needs a good seal to isolate the water.At the same time,The flow of the ocean affects the control of the robot.Ultrasonic motor has some advantages such as compactness,flexibility,low speed and high torque,high torque/mass ratio and so on.It is suitable for marine exploration.In this paper,a multi-degree-of-freedom master-slave manipulator is designed for ocean exploration.Ultrasonic motor is used as the driver of the master-slave manipulator.Ultrasonic motors are easy to seal in water.Ultrasonic motors can be precisely controlled in water.The structure of manipulator driven by ultrasonic motor is simple.Firstly,First,the multi-degree-of-freedom master-slave manipulator structure is designed to meet the requirements of the marine environment.,A new structure is proposed.The shape and size of the manipulator are determined.It is analyzed by three-dimensional modeling software.Secondly,kinematics and dynamics are applied to verify the rationality of the design scheme of multi-degree-of-freedom master-slave manipulator..The spatial position of the manipulator can be obtained by knowing the parameters of the manipulator or the motion parameters of the joint can be obtained by the given position and attitude in the coordinate system by D-H coordinate method.SolidWorks Motion and MATLAB software are used to simulate and verify the results.The motion space range of the slave hand is obtained,and the rationality of the structure design of the manipulator is proved.Dynamics of manipulator in liquid is analyzed by Lagrange method.The rationality of driving from each joint of the manipulator is verified..Finally,the motion control of master-slave hand is studied.A control system based on 80C52 controller is designed for master-slave hand.A fuzzy PID control algorithm is designed to realize master-slave control of manipulator in the marine environment.The simulation analysis of master-slave control system by MATLAB Simulink verifies the rationality of the algorithm.A three-joint master-slave manipulator experimental platform is built.The data acquisition,analysis and processing of master-slave manipulator are carried out.it is verified that the master-slave manipulator driven by the ultrasonic motor can realize the precise master-slave trajectory control.