Research On Multidirectional Motion Continuous Robot Based On Scissor Mechanism

With the continuous development of human science,robotics plays an increasingly important role in the process of human civilization.Robots can not only improve the efficiency of human work,but also can replace human beings in high-risk operations under special circumstances and accomplish tasks that mankind can't do well.In the research of robots,more and more types of robots are studied,especially for bionic robots.One of the important directions is the study of continuous robots.Most of the traditional discrete robots are equipped with multiple distributed drive sources to achieve their deft movement,resulting in a more complicated control process.Continuous robots have the advantages of large working space and simple control.However,the existing continuous robots are mainly driven by flexible materials such as gas-driven,artificial muscle,hydraulic system,memory alloy,rope and other flexible drive systems,which makes the mathematical model of the system difficult to establish accurately and can't meet the needs of special environments such as high and low temperature and vacuum.Aiming at the shortcomings of existing continuous robots,this paper introduces the scissor structure into the research of continuous robots,and proposes a new type of continuous robot with a small number of motor drive sources.The robot can achieve three-degree-of-freedom motion driven by three motors and precisely grasp the object.The main research work carried out in this paper is as follows:First,the outline of the existing continuous robot configuration types are summarized.By analyzing the scissor mechanism,several new unit block mechanisms have been developed.Several new types of continuous robot are designed via these mechanisms.Based on the evolution of the scissor mechanism,a new type of continuous robot based on the variable ratio scissor mechanism is proposed.Then,for a continuous robot based on a variable ratio scissor mechanism,this paper carried out research on robot kinematics,kinematics,parameter optimization and mechanical properties.Based on the spiral theory,the robot's freedom degree in the operation space is studied.In this paper,the kinematic equations of the continuous robot are established,and the robot's working space is simulated and analyzed.In this paper,by means of computer-aided design,the robot's statics is analyzed to study the motion mechanism of the continuous robot.Finally,the prototype of continuous robot was developed,the driving mechanism of continuous robot was researched,and corresponding experiments were carried out to verify the feasibility of the scheme and the correctness of theoretical analysis.