Research On Structure Design And Joint Control Of A Modular Manipulator

Industrial manipulator widely used in welding,painting,palletizing,and other fields,which have become an indispensable automation device for high-end manufacturing.With the increase of demand for product high quality and customization,higher requirements have been raised on the precision,joint integration,and ease of installation and use of industrial manipulator.Backlash is the most important factors affecting the accuracy of industrial manipulator.Therefore,this paper introduces the dual motor anti-backlash drive technology into the manipulator system,and designs a kind of dual-motor driven modular arm and studies its joint control strategy.It has a high theoretical and engineering value.The main research contents of this thesis are as followsFirstly,the mechanical structure design and finite element analysis of modular manipulator.The main contents are as follows:the design specifications of manipulator is determined.The design scheme based on dual motor drive modular joint is proposed.The parts of manipulation are selected.The three-dimensional model of the manipulator and the finite element analysis of the key parts is carried out by SolidWorksThen,the model of single motor drive servo system with backlash is established,and the influence of backlash nonlinearity on semi-closed loop and full-closed loop feedback is analyzed by MATLAB/Simulink simulation.On this basis,a modular joint control system model is established,namely a dual motor drive dynamic system model with backlash.Next,based on the adaptive discrete sliding mode control,the algorithms of modular joint dual motor synchronous driving mode,the anti-backlash driving mode and switching control of two mode are designed.In the MATLAB/Simulink environment,the control algorithm proposed in this paper is simulated and compared with the single motor drive and other literature proposed variable bias torque dual motor drive algorithmFinally,a modular joint experiment platform is built.One is to verify the influence of backlash nonlinearity on the semi-closed loop and full-closed loop feedback of single motor servo system.The two is the experimental verification of the algorithm proposed in this paper,which is compared with the single motor drive and variable bias torque dual motor drive algorithm.