Simulation And Experimental Study On Electromechanical Coupling Characteristics Of Manipulator

The emergence of robots,to a certain extent,freed the human hands from the boring repeated work in the liberation.Industrial robots was the fastest growing robot field,for she can complete many operation,such as handling,painting,welding,coating,palletizing and other repetitive work.Although the industrial robot technology is nearly mature,there are still many problems.A higher intelligent robot always results in less participence in the work by human himself.So the robot stability,life,maintenance cycle and other requirements will be correspondingly need to be improved.Industrial applications of the series arm was composed of the motor and the arm body,in which the motor selection and mechanical arm structure matching problem will be highlighted.So it is needed to deeply study for the robot to meet the industrial needs to provide technical support.In this thesis,the kinematic modeling of the manipulator is based on the trajectory planning of the manipulator dynamics and the mechanical and electrical coupling properties of the manipulator.The simulation of the manipulator was carried out,and verified.The main research contents are as follows:(1)Kinematics Analysis of Manipulator.The three-dimensional model of the manipulator was established in Solidworks,and the mechanical-electrical control system and kinematics model of the manipulator were established by seamless connection with MatLab.The man-machine control interface was designed in MatLab for the motion control of the manipulator and the visualization of the manipulator simulation.According to the principle of Piper triaxial sink,the manipulator has a closed solution.Thus,the inverse kinematics of the manipulator was solved and the program was calculated.The calculation result was compared with the actual situation,and the correctness of the calculation model was verified.(2)Dynamic analysis of manipulator.According to the Lagrange method,the dynamic equation of the manipulator was established,and the inverse kinematics of the manipulator was solved to obtain the force or moment matrix equation of the manipulator.According to the model foundation established by kinematics,the dynamic model of the manipulator was established in ADAMS,and the force or moment was applied to the joints of the manipulator.The control system was established by using MatLab and the classical PID control strategy in order to plan the trajectory of the manipulator.The motion trajectory of the actuator at the end of the manipulator was drawn to demonstrate the effectiveness of the kinetic model.(3)Research on Electromechanical Coupling Simulation of Manipulator.Based on the Clark and Park transformations,the electromechanical coupling model of the manipulator joint was established in MatLab.The servo control system of the manipulator was built by using the space voltage vector control technique(SVPWM).The movement of the manipulator was simulated by changing the inherent parameters of the motor performance.According to the simulation results,the influence of the matching degree of the motor parameters and the manipulator body on the mechanical performance and the dynamic response characteristics of the manipulator was analyzed,which provides the theoretical basis for the selection of the motor.(4)Experimental study on electromechanical coupling of manipulator.After the virtual simulation experiment was completed,the experimental platform was built and selecting Dobot as the experimental object.The real-time motion control and visual monitoring of the robot were completed to verify the correctness of the kinematic model.In this thesis,the mechanical and electrical coupling of the manipulator was used to simulate the mechanical trajectory of the manipulator.The motion trajectory of the mechanical end was plotted and the smoothness of the trajectory was used as the performance reference.The experimental results show the influence of motor parameters to the performance of manipulator.The experimental data were provided for further improved design of the manipulator.