Building Block Development Environment For Multi-DOF Manipulators

Manipulator is widely used in various industries,not only in the fields of medical care,aviation,navigation,research,etc.,but also in our daily life,and the scope of use is more and more extensive,and the development of manipulator has attracted more and more attention.This thesis aims to realize a multi-degree-of-freedom manipulators development environment that builds a multi-degree-of-freedom manipulators control system by means of building blocks and has an offline teaching simulation function.The content of this paper is as follows:(1)The kinematics analysis of multi-degree-of-freedom joint manipulators is carried out,and the forward kinematics is analyzed according to the motion characteristics of the manipulators with different degrees of freedom;(2)Using the building block representation method,visually express the image of each joint module of the manipulator to build the building block,and classify the building block according to the different joint attributes of the manipulator;(3)The building block management is an editing operation for creating new modules,importing new modules,and saving new modules in the building block,and making the user open and expandable;(4)Using the modular programming method to determine the connection between the building blocks,and determining the connections between the modules in the manipulator module library according to the connection relationship of the joints of the manipulator;(5)The controller is used to control the movement of the manipulator,and the movement of each joint of the manipulator is controlled by means of a property sheet;(6)The research of teaching control is to carry out off-line simulation of the successful manipulator,and complete the forward kinematics verification and teaching function operation of the six-degree-of-freedom manipulator.The work of this paper has carried out a series of beneficial experiments on the mechanical building environment of the manipulator,and verified the above system functions.However,there are still many aspects that need to be improved.