Dynamics Modeling And Kinematics Problem Analysis Of Hyper-redundant Manipulator

Robots are key support equipment of advanced manufacturing,aerospace and other precision industry.Robots' development and application are the important symbol of a country which measures the development levels of science and technology innovation,and the high-end manufacturing.Hyper-redundant manipulator refers to the manipulator whose number of degrees of freedom is far more than the minimum degrees of freedom required completing an assignment.Compared with the traditional industrial robots,hyper-redundant manipulator has great advantages in aspects of sensitivity,working space and avoiding obstacle performance,and has very good fault tolerance and robustness,thus became an important development direction of the current robot technology.The research of hyper-redundant manipulator not only has good scientific significance,but also has high engineering application value.This dissertation was funded by The National Natural Science Foundation of China(Grant Nos.11132001,11272202),the Key Scientific Project of Shanghai Municipal Education Commission(Grant No.14ZZ021)and the Natural Science Foundation of Shanghai(Grant No.14ZR1421000),and it conducts research of hyper-redundant manipulator dynamics modeling and inverse kinematics analysis.The main research work is as follows:(1)Dynamics modeling and inverse kinematics analysis of a class of planar hyper-redundant manipulator are studied in this dissertation.In the study of dynamics modeling,the system kinematics analysis is carried out firstly to get the relationship between system joint coordinates and system independent coordinates.Then system dynamics equation based on the independent coordinates is established using the Jourdain speed variation principle,which provides model guarantee for subsequent controller design.To make the hyper-redundant manipulator completing an assignment,such as terminal platform center moves from one point to another point(point-point location problem),or the terminal platform moves from one attitude toanother attitude(configration-configration problem),the inverse kinematics of hyper-redundant manipulator has to be studied.This dissertation uses a geometric method to solve inverse kinematics problem of planar hyper-redundant manipulator.The basic idea of this method is to find a “spinal curve” to describe macroscopic geometric configuration of the planer hyper-redundant manipulator,so the inverse kinematics problem of the system can be simplified to the problem of solving the spinal curve.This dissertation uses different geometry curve to describe the spinal curve.For example,for point-point location problem,because the system has three given geometric considitions,which are beginning platform center location,beginning platform attitude and terminal platform center location,so the planar circular arc is used to describe the spinal curve.For attitude-attitude problem,the system has four given geometic conditions,which are beginning platform center location,beginning platform attitude,terminal platform center location and terminal platform attitude,so the planar elliptic arc is used to describe the spinal curve.Finally,numerical simulations is carried out to verify the validity of the above methods using a four modules planar hyper-redundant manipulator as an example.(2)Dynamics modeling of variable geometry truss manipulator is investigated in this dissertiton using both the Cartesian coordinate method and independent coordinate method.In the Cartesian coordinate method,the standard constraint equations of various hinge in the system is briefly introduced firstly,then dynamics equation of single rigid body is established,finally system dynamics equation is obtained by the introduce of Lagrange multiplier.In the independent coordinate method,kinematics analysis of the system is done to get the relationship between the system Cartesian coordinates and the system generalized independent coordinates,then system dynamics equations based on the independent coordinate can be obtained using the Jourdain speed variation principle.The validities of the above two dynamics models are verified by the numerical comparions with ADAMS software.In addition,this dissertation also makes a study of active control of the variable geometry truss manipulator,and a controller suitable for the manipulator is designed.(3)Inverse kinematics analysis of a class of spatial hyper-redundant manipulator in investigated in this dissertation.The spatial hyper-redundant manipulator adopted in this dissertation contains a number of double octahedron variable geometry trusses,so the inverse kinematics of the manipulator is to calculate the length change of actuator in each double octahedron variable geometry truss in the process of manipulator movement.This dissertation uses “spinal curve” to describe themacroscopic geometric configuration of spatial hyper-redundant manipulator.For point-point location problem,the system has three given geometry,which are beginning platform center location,beginning platform attitude and terminal platform center location,so the spatial circular arc is used to describe the spinal curve.For attitude-attitude problem,the system has four given geometry,which are center locations and attitudes of beginning and terminal platforms,so the spatial elliptic arc is used to describe the spinal curve.Finally,this dissertation uses a spatial hyper-redundant manipulator containing four double octahedron variable geometry trusses as an example to numerically verify the validity of the proposed methods.