Painlevé Problematic Theory And Experimental Research On Double-link Manipulators

The mechanical control of manipulator and humanoid robot is the bottleneck restricting its development.Painlevé problem is one of the unavoidable difficulties in the dynamics control of bipedal robot and biaxial manipulator.The Painlevé paradox problem with sliding contact of the double-link manipulator is investigated in this paper.The configuration region where Painlevé paradox(dynamic self-locking)occurs in the double-link manipulator model is derived.The influence of various system parameters on the Painlevé paradox is studied.A new Painlevé paradox experiment setup of double-link manipulator is designed and manufactured.The experiment data well validates the theoretical configuration region of Painlevé paradox(dynamic self-locking),the effect of structure compliance on the configuration region of Painlevé paradox is obtained.The movement state of the contact end and the corresponding stress changes during the Painlevé paradox was captured.The judgment criteria of the dynamic self-locking(or called tangential impact)in the actual experiment is summarized.The influence of the system parameters on the motion state of the contact end during Painlevé paradox period is studied.Finally,the experimental results are compared with the finite element solution.The specific research contents of this paper are as follows:(1)The first chapter is the introduction.The Painlevé paradox application background and research significance is give a The paper mainly includes several typical models of Painlevé paradox derived from the classic Painlevé paradox.The current Painlevé research status domestic and abroad is summarized,the current problems to be solved and the remaining difficulties is elaborated,and the research of this paper task is puts forward.(2)The second chapter describes the double-link theory model,calculation method and the theoretical configuration region of Painlevé paradox,as well as the numerical simulation of the influence of various parameter on the Painlevé paradox region.(3)The third chapter introduce the double-link manipulator experimental device and the Painlevé paradox experimental scheme designed in this paper.The relevant measuring equipment and principles are introduced,the experimental steps are described in detail,and the experimental accuracy is discussed.(4)In the fourth chapter the dynamic responses of the contact end during the manipulator sliding contact are studied.The manifestations of manipulator's dynamic self-locking is revealed,the judging criteria of dynamic self-locking(or called tangential impact)in the actual experiment and the related experimental phenomenon and rules are summarized.The experimental self-locking region and the Painlevé paradox configuration region is compared,and the effect of structure compliance on the configuration region of Painlevé paradox is obtained.Finally,the experimental results are compared with the finite element solution to verify each other.