Research And Analysis On The Kinematic Model Of Manipulator That Operating Measuring Implements

As the end effector in industrial robot,multi-fingered manipulator plays an essential role in lots fields by its rich fucntions.Through the research on the current situation of domestic machining production measuring technique,for improving the work efficiency of the workshop and reducing human error,this paper has designed a measuring tool manipulator,which can replace a part of manpower.It can realize the use of two common measuring tools.Based on these,this paper explores the technical path of manipulator instead of hand to control the existing measuring tools to complete the measurement and inspection process,and then realizes the intelligent manufacturing process in a specific way.This paper also investigates the mechanical structure,kinematics model construction and analysis,statics and dynamics analysis,grasping stability determination,finger trajectory planning,etc.The main work of this paper is as follows:Firstly,regarding two kinds of common measuring tools as working object,the design index of measuring tool manipulator is determined.By the study of main transmission and driving mode of the manipulator,the appropriate scheme is selected.The number of fingers,the degrees of freedom and the form of joint motion pairs are determined according to the usage of measuring tools.The structure design of finger,palm and the overall assembly layout are completed.Then,list the controlling plan.Otherwise,appropriate sensors,motors and other key components are selected.Then,the forward and inverse kinematic models of the manipulator are constructed and analyzed by introducing the standard DH method.The single-finger workspace and the whole workspace are obtained,which meet the requirements of application.The static pose deviation model of manipulator is established by MD-H method.The static position deviation and static posture deviation of finger are acquired by matrix differential method,which are in acceptable range.Therefore,the rationality of the theoretical model is ensured.Moreover,the relationship between fingertip force,joint driving torque and joint variables are obtained by doing static analysis and doing kinetic analysis in Lagrange method.The singularity of finger Jacobian matrix is analyzed,and the finger dynamic simulation is completed by N.X 12.0.Based on the friction point contact model and the force closure,the grasping stability of the manipulator is determined,and the minimum contact force of the tip is caculated through a calculation model for multi-point grasping.In addition,an analysis scheme is made for the contact tightness and the rationality of the motion speed in the process of manipulator operating measuring tools.Finally,based on the characteristics of path planning method in joint space and Cartesian space,a three-step planning scheme for finger trajectory is developed by researching on common trajectory planning methods of manipulators.In order to ensure the stability of the manipulator's grasping motion process and provide selection and reference for the subsequent actual trajectory planning method,using ADAMS to simulate the trajectory planning of the two kinds of measuring tools based on cubic interpolation driving and quintic interpolation driving.According to the results,the influence of the two polynomial interpolation methods on finger motion is contrasted and analyzed,so that the accuracy of the previous arguments can be verified.