The Dynamic Performance Analysis Of A 4-DOF Robotic Arm For Handicapped People

With the progress of science and technology,the development of social economy,the manipulator applications are expanding from the industrial applications to daily life.In order to improve disabled?s(specified upper limb disability)life quality and to enhance their self-care ability in daily life,according to the requirements of real life environment.This paper designs a kind of mechanical arm with four degrees,which can be fitted to the disabled wheelchair.The main research contents of are as follows:1.Based on D-H method to establish the assistive robotic arm joint coordinate system,worked out the end of the mechanical arm by performing kinematics equation,and homogeneous transformation matrix to solve the inverse kinematic equations.Calculated the disabled manipulator Jacobian matrix and solved the singular configuration of mchanical arm,however singular configuration should be avoided.2.Based on the kinematics of the four degree of freedom and assistive robotic arm inverse solution corresponding to the plurality of joint variables and given trajectory,solving for each mechanical arm's motion parameters,makes it ready for the static analysis,kinematics analysis and dynamics analysis.Monte Carlo probabilistic algorithm is used to solve disabled manipulator workspace while the output are manipulated in Matlab.3.The method of Lagrange equation assistive robotic manipulator dynamics model is established in combination with MATLAB and Adams solving disabled manipulator inertia matrix.4.Using ADAMS simulation of kinematics and dynamics of the manipulator of the disabled,a 3D geometric model of the manipulator is designed by SolidWorks,and is imported into ADAMS.The velocity function of each joint is used as the drive of each joint,and the motion of the manipulator is observed by simulation.Using the measurement function of ADAMS measured assistive robotic arm all motion characteristic parameters,such as joint displacement,velocity,acceleration and driving moments,and for each of the joints drive motor selection provides the basis.This paper presents the study of disabled manipulator kinematics and dynamics performance to ensure the mechanical arm for the disabled in daily life can satisfy their demands,and also provides support for subsequent intelligent assistive robot system research.