The Design And Optimization On Six Degrees Of Freedom Manipulator Of Serving Robot

The robotics industry has a major influence on our daily life and work,and is an important force driving the progress of our society.Service robotic manipulators require light weight and easy movement.This paper designs and analyzes the structure of service robotic arms.The contents of this paper are as follows:Firstly,it describes how the structure of the robot arm was determined,the selection of components such as motors and power supplies was completed.It analyzes the components by using ANSYS software to find out the maximum deformation and maximum stress of components and tests the structure stability.By optimizing the design,the weight of the connection part is reduced.Also,the connector is redesigned to avoid the influence of the resonance phenomenon on the mechanism by changing the vibration frequency of the robot arm,Obtained by the modal analysis,closely to its natural vibration frequency.Secondly,it adopts D-H parameter method to calculate forward and inverse solution correlation.The produced formula represents the relationship between the rotation angle of each joint and the position and the attitude of its end.Then the correctness of the solution formula has been proved by using MATLAB regression.In this paper,the dynamic correlation formula is derived.The simulation of ADAMS software is used to get the curves of the speed,force,and moment of each joint,which provides a reference to smooth operation of the robot arm.On this basis,the influence of the errors generated by the joints and joint deformations of the manipulators on the kinematics calculations was analyzed.The changes in the formulas after the deformation were analyzed,the error model including the flexibility of the connecting rod is constructed。Finally,the compensation strategy and the method of reducing the error are proposed to provide the reference for the error measurement and compensation for further study.