Design And Research Of Compliant Manipulator Based On Multi-beams Large Spatial Deformation

With the rapid development of robot technology,there are higher requirements for the working ability of robots.Among them,the flexibility of robots is the development trend of the new generation of intelligent robots.The main work of this paper is divided into five parts.1 Structure design: a flexible multi-body complaint manipulator structure is designed,which can make use of the deformation of multiple beams to realize the accurate operation of the target object in a wide range.2 Theoretical modeling: Based on the chained spatial-beamconstraint-model,a theoretical model for the accurate solution of the manipulator is proposed,which can efficiently obtain the forward and inverse solutions of the flexible attitude manipulator's spatial attitude under different input control.3 Compliant manipulator performance analysis: combined with the theoretical model,this thesis discusses the mechanical properties of this kind of manipulator,and presents several application scenarios of the manipulator.4 Experimental verification: in order to verify the correctness of the theoretical model,the finite element model is established,and the prototype is made for experiment.It is verified that the theoretical model can efficiently obtain the exact numerical solution of the deformation of the manipulator in the appropriate range.5 Control experiment: in this paper,a prototype of compliant manipulator is manufactured,and the control algorithm is designed.The experimental demonstration of controlling the movement of the manipulator according to the established trajectory and the demonstration of picking up the target object are completed.The core of this thesis is to establish an accurate and efficient theoretical model for the spatial deformation of compliant manipulator structures.The difficulty of this thesis lies in the accurate solution of the nonlinear large spatial deformation of compliant mechanisms.Based on the single beam force-displacement relationship in the chained spatial-beam-constraintmodel,combined with the geometric constraints and force balance constraints of the mechanism,the complete constraint equations describing the deformation of the mechanism are obtained.By solving the equations,the forward and inverse solutions of the active deformation of the flexible multi-body manipulator can be obtained.The experimental results show that the theoretical model is accurate and effective within a certain range,which shows that the idea and method for solving compliant mechanisms of flexible bodies can be used for modeling and solving other compliant mechanisms.The compliant manipulator designed in this thesis is simple in principle and novel in structure.Combining with the theoretical model,some mechanical properties of the structure are discussed in this thesis,and the reference indexes of the structural design parameters,workspace and stiffness changes are given.The experimental prototype was designed and manufactured,and two groups of experimental demonstrations were completed through different control ideas.The work in this thesis can provide a reference for the practical application of the flexible manipulator structure.