Design And Research On A Novel Continuum Parallel Grasping Manipulator

Parallel robots have many structural shortcomings such as small working space.As a result,a lot of configurations of parallel robots cannot be transformed into practical engineering applications.The compliance and dexterity of continuum robots are their unique characteristics.In recent years,the novel continuum parallel manipulators which combine the characteristics and the advantages of both parallel robots and continuum robots have gradually become a research hotspot.It is of great significance to expand the new configuration and application fields of parallel robots and continuum robots.Inspired by this idea,this paper proposes a novel continuum parallel grasping manipulator,and the research contents are as follows.Firstly,the structure of the continuum parallel grasping manipulator is designed.The legs of the manipulator are three sets of continuum mechanism in parallel form,and the grasping device on the moving platform is a linkage mechanism grasper.The elastic rod is used to drive the moving platform and the grasping device,so that the manipulator has 3-DOF motion posture and grasping performance of the cylindrical objects.SolidWorks is used to build the virtual prototype model.Kinematics model of the manipulator is established by the equivalent D-H method,and then the forward and inverse kinematics and the Jacobian matrix are solved with analytical expressions.In addition,the workspace is analyzed in MATLAB.Secondly,the motion simulation of virtual prototype is carried out by ADAMS.The method of establishing flexible body by ADAMS is introduced and the elastic rod with large bending deformation characteristics is built.The motion posture and output curve of the manipulator are obtained,which verifies the correctness and feasibility of its structural design.In ANSYS Workbench,the static structure of the virtual prototype is analyzed,and the safety of its structural strength is verified.Through the modal analysis,the first 6 modes and their frequency are obtained.Finally,the parts of manipulator are produced by 3D printing and metal processing.By assembling parts,building the drive and control system,a physical prototype is created.The experiment of grasping operation taken on the prototype shows that the manipulator can achieve 3-DOF motion and cooperative grasping operation.The position calibration experiment of the moving platform in the two-dimensional plane under special deformation motion state is carried out,and the actual measurement position coordinates are compared with the theoretical calculation to verify the correctness of the kinematic theoretical analysis;the experimental results show that there is an error between the theoretical calculation and the actual measurement results.At the maximum stroke,the error rate is the largest,which is 2.91%,and the error distance is in the centimeter level.The positioning system of the prototype needs to be optimized in the subsequent study,and then the kinematics formula can be corrected after more accurate measurement.