Design And Key Technology Research Of 6DOF Manipulator Based On 2DOF Modular Driving Joint

The modular drive joint is a mechanical arm joint module with a high degree of integration of various sensors.It has high precision,high self-weight load ratio,high interchangeability,hollow wiring and convenient wiring.The 2DOF modular drive joint has two independent rotary motions.The two joints share a set of housings,reducing the number of mechanical arm links.It can be combined with a single-degree-of-freedom modular drive joint or a robot arm alone and the collocation is more diverse.This paper aims to develop a 6-DOF modular manipulator composed of three different types of 2DOF modular joints.The main research work is as follows:Firstly,the development status of light-duty cooperative robot arms at home and abroad is summarized.Through a large number of researches on the performance and characteristics of mechanical arms at home and abroad,combined with the requirements of this project,a design concept and design index of a 2-DOF modular drive joint are proposed.A 6-degree-of-freedom manipulator is constructed from this 2-DOF module joint.Secondly,the kinematics model of the 6-DOF manipulator based on the joint of 2 degrees of freedom is established by DH method.The differential motion of the robot is analyzed,and the Jacobian matrix of the manipulator is solved.The singularity of the arm is analyzed by the Jacobian matrix.And the correctness of the kinematics positive and negative solutions are verified by the MATLAB robot toolbox.What's more,the dynamic equations of the manipulator are derived,which provides theoretical guidance for the design and performance check of the manipulator.Then,the mechanical detailed design,hardware design,and connecting rod design of 3 different types of 2DOF modular drive joints are completed.The strength and stiffness of the key components are checked based on ANSYS Workbench,and most of the machined parts are optimized in topology and parameter based on ANSYS Workbench.Meanwhile,a serials of verifications are carried out,such as robotic workspace verification based on kinematics positive solution,kinetic-based joint output torque verification,Adams-based kinematics,dynamics verification,and inertia matching verification.Finally,the prototype is manufactured,and the hardware system based on this robot arm is designed.Through the distributed control system,the driver is integrated inside the joint,which improves the modularity of the robot arm electrically.Through the self-developed mechanical arm,single joint debugging,performance testing and calibration of the whole arm are implemented,which effectively improve the absolute positioning accuracy of the mechanical arm.