The Structural Design Of Modular Robot And The Research Of Flexibility Analysis

Now,modularization in constructions and controls is the main direction of the research of robots.The researcher break the robots into many separate modules which include communication systems,sensors,chassis drive systems,control systems,mechanical structure(such as rotation module,swing module)and some small parts.A completely robot system can be putted in use just by assembling these modules together.However,there are certain deficiencies of the modular robots in the current market,like single assembly form,or redundant special parts.Work space and flexibility are important indicators for measuring the robot's performance,and also as the basis for programming control and optimization of constructions and controls.For now,they are mostly used for analysis and research of industrial robots,but not in modular area that lacks such relevant researches when designing construction and control.Therefore,through the simulation analysis of workspace and flexibility calculation of modular robot we can get the range of its flexible work space to ensure the best work position,at the same time,optimize the structure and the size of robot by genetic algorithm,then we can use Labview to achieve graphical programming,and lay the foundation for the ultimate realization of optimal control.Firstly,this paper divides the robot into several different modules and completes the structural design.Then it introduces some robots in different assembly forms specially the kinematics analysis of the writing robot.Using the Denavit-Hartenberg(D-H)method could establish the forward kinematics model of robot,and using the ergodic iteration method can institute the inverse kinematics model of robot arm model.moreover,there are an introducing and an improvement method for the asynchronous drive algorithm of the robot crawler mobile platform.Secondly,the mechanism model of the writing robot is built by Matlab software Simulink environment,after that,robot's workspace with complete boundary will be obtained by simulate the motion of the whole mechanical arm,consequently the workspace is available to analyze by using the analytical method.And the next step is avoiding the Complicated formula calculation through the fitting curve command in CAD,then there are ways to solve the projected are of the workspace in xoz plane.Inorder to reduce the computational complexity of flexibility calculations,Matlab programming is particular valid to achieve the analysis of the workspace based on the Monte Carlo method,as well as the completion of flexibility calculations based on the service ball theory.Thirdly,the robot's control system is implemented minutely in the paper,the introduction of the composition framework,software and hardware can also be fined in paper.After that the paper analyze the control methods of the robot's motion joint modules and briefly introduce the basic principles of the control.then it shows the application of the graphical programming by Labview software and the design of the correspongding control programming module of the robot.Finally,we can finished the trajectory plannning simulation test of arm model,verify the correctness of the calculation thetory of flexibility.We can achieve different joint parameter changes under the sanme trajectory task.Then,I used genetic algorithm to complete the strucyural optimization of arm model.And tracked platform module obstacle analysis.