Design Of Manipulator Based On Multi-motor Driven Joint And Research On Two-degree-of-Freedom Joint Control System

Industrial robots have gradually replaced manual labor due to their advanced technology,high degree of automation,high production efficiency,high precision,and low labor costs,which have become indispensable automation equipment in the modern industrial field.The structure of traditional industrial robots is complex,bulky,and has a low self-weight.It is not suitable for labor-intensive industries such as 3C,family services,and medical assistance.And transmission backlash is an important factor affecting the accuracy of industrial robots.Therefore,this paper combines the dual-motor anti-backlash technology with a two-degree-offreedom bevel geared differential gear train,and designs a two-degree-of-freedom joint for a robotic arm based on multi-motor drive,and combines a modular idea to design a lightweight six-degree-of-freedom robotic arm,which will help to solve the problems of low load/selfweight ratio,large volume,and high cost of the robotic arm,and it has important practical application value.The main research contents of this article are as follows:First,a two-degree-of-freedom joint and robotic arm based on multi-motor drive are designed.It mainly includes:the design index of the six-degree-of-freedom robotic arm is determined,and a two-degree-of-freedom joint transmission and design scheme are proposed.The overall structural scheme of the robotic arm is degisned,and on the basis of completing the three-dimensional modeling of joints and robotic arms,the components of the motor and other components are selected,and the finite element analysis of important components is performed.Then,the motion simulation and trajectory planning of the six-degree-of-freedom robotic arm are studied,the forward and inverse kinematics of the robotic arm are analyzed,and a damped least aquares-quasi-newton downhill hybrid iterative algorithm is proposed to solve the numerical inverse solution of the robotic arm.On this basis,the motion trajectory planning based on the asymmetric S-type acceleration and deceleration algorithm is completed,and the simulation verification is performed in MATLAB and ADAMS.Next,the two-degree-of-freedom joint control algorithm and simulation verification are performed,the joint transmission and anti-backlash characteristics are analyzed,and a twodegree-of-freedom joint drive dynamic system model with backlash is established.A LADRC speed controller of the two-degree-of-freedom joint based on the active disturbance rejection control algorithm is designed with the speed inner loop as the core.The speed loop and position loop are simulated with MATLAB/Simulink and compared with conventional PI speed controller.Finally,a prototype experimental platform is set up and a two-degree-of-freedom joint control scheme is designed for experimental verification.The experimental investigation of the feasibility and effectiveness of the algorithm is mainly completed.At the same time,it is compared with conventional algorithms to prove the superiority of the algorithm in this paper.