Kinematics Analysis And Structural Simulation Of Grasping Process Of A Flexible Manipulator

With the development of human technology,the use of manipulator in industry is more and more widespread,which has become an important part of the automation industry,and the related study field has made breakthrough progress.In the current working conditions,that the factory can only rely on manua to repeat the same process on production line,greatly affect the production efficiency of products.It has become an important direction of modern industry development to use manipulator instead of hand.In this paper,in order to design a more reasonable manipulator,we use modern design and analysis methods to analyze and simulate the grasping process of the humanoid arm-hand system.It is of great significance to liberate the labor force and improve productivity.Firstly,based on the simplification and analysis of a certain type of manipulator,established 3D model of the target manipulator and the corresponding D-H link coordinate system.not only solved the forward kinematics equation and analysed the joint variable parameters of the inverse kinematics but also carried out the kinematics simulation of the manipulator.Thus,the kinematics state of the target manipulator is expressed,which lays the theoretical foundation for the motion control of the arm system and the kinematics analysis of the workpiece grabbing.Secondly,in order to make a better research on the workpiece grabbing,the study designs a humanoid underactuated manipulator and deduces the driving force,which provides a theoretical basis for the selection of servo motor.By using the finite element method,the results of static analysis and modal analysis has verified the reliability of the manipulator's stiffness,strength,vibration and other aspects.Finally,the simulation results of the manipulator grasping are obtained by using ADAMS,which can be used to observe the rationality of the system.(1).A simulation study on the process of grasping in the virtual environment is carried out,which has got the time history plot of indirect contact force between fingers and workpiece.The result shows that,the design of the underactuated humanoid robot is reasonable,and it can be able to grasp the workpiece better.(2).Combined the humanoid robot arm and the six degree of freedom manipulator,and added various sensors.Adaptive grasping can be achieved according to the weight of the workpiece in this system.The results show that the design of this system is reasonable and efficient,and it has a good reference value for the arrangement in industry.