Structure Design And Simulation Of The Hydraulic Drive Flexible Manipulator

With the development of science,technology and economy,robots have been widely used in the fields of industrial and agricultural production,aerospace,national defense military,and have gradually expanded into several new fields of medical,family and social services,which plays an increasingly important role in people's work and life.The mechanical arm has become an important branch in robotics because of its flexible operation and high efficiency.However,most traditional mechanical arms are mostly rigid structures that made of metal materials,which results in the heavy structure,inflexible operation and poor positioning accuracy of the mechanical arm.On the one hand,it can also cause energy consumption,and it is difficult to meet the demanding job requirements in the working environment.On the one hand,it can also cause energy consumption,and it is difficult to meet the demanding job requirements in the working environment.For industry,agriculture,national defense military,aerospace,earthquake and mine accidents,a large number of flexible joints are required for bionics continuous flexible manipulator and flexible manipulator.For continuous flexible manipulator and robot to realize comprehensive flexible function,flexible joint flexibility is the basis of solving this key problem.At present,the flexible joints of research and application are mostly rigid body,and their driving mode is mainly motor driven,hydraulic cylinder and cylinder drive.There are two flexible defects,first of all,the body flexibility of the joint is too weak to adapt to the adaptability of complex space environment;Secondly,the driving device is mainly rigid body,which makes it less flexible and bulky.This paper starts with the flexibility of flexible manipulator,on the basis of the McKibben artificial muscle,Using rubber hose as the joint body of flexible joint,oil pressure as the power source of the flexible bending joint movement,at the same time the rubber hose outer wall tightly the constraints of the spring as the support structure of flexible joints.The research contents of this paper are as follows.1.According to the structure function of fluid-driven flexible joint,a fluid-driven flexible joint structure design scheme was established;according to the working characteristics of the driving material,polyurethane rubber is selected as the rubber hose material.The axial statics model,the mathematical model of flexural rigidity and axial elongation kinetic model of the rubber hose were established,and the fluid flow formula of the rubber hose was obtained.2.The three-dimensional model of the flexible joint is established,and the modeling process of supporting disk,restraint spring and rubber hose of flexible joint is discussed in detail.Due to designing of oil hole on support disk,the control precision of the bending angle and bending direction of the flexible joint is improved.3.The control strategy of flexible joint with different bending Angle and different direction bending is established.According to the pressure value of four parallel rubber hoses to be filled in different sizes,a pressure difference can be generated,and the bending of different directions and angles can be realized by using pressure differential,and when the rubber hose is bent along the X-axis and Y-axis,the torque of the flexible joint is the largest,and the pressure Pi in the rubber hose can be adjusted to control the bending direction and bending angle of the flexible joint.4.Finite element analysis software ABAQUS is used to establish a virtual prototype for flexible manipulator,and the finite element simulation analysis is carried out.The rationality of structural design of flexible manipulator and the correctness of theoretical analysis are verified.