A Collaborative Robot Design Based On Intelligent Joints

As a new kind of auxiliary equipment,collaborative robots are gradually promoting the development of intelligent human-machine coexistence in industrial manufacturing,medical and other fields.It is of great significance to solve the gradual increase in labor costs and the difficult situation of manufacturing.This article summarizes the shortcomings of collaborative robots,develops a fully open intelligent joint with strong scalability,controllable cost,and builds a robot research platform based on the joint.The main research contents of the thesis are as follows:The design points of the intelligent joint were analyzed based on the design requirements of collaborative robots,and the integrated joint module design plan was formulated;The detailed design of the structure was elaborated;based on the FOC algorithm,the motor drive control scheme and software design are introduced;two types of collaborative robots are built with the designed joints.The forward kinematics of the robot is established through the MDH method,and the pose representation of the robot end effector with Euler angles is obtained;the robot's analytical Jacobian matrix is established based on the forward kinematics,and the inverse kinematics control method is obtained;Newton-Euler method is used to get the recursive expression of robot inverse dynamics.The linear expression of the robot inverse dynamics is formulated,and the minimum inertial parameter set of the robot is derived based on the linear transformation method;the excitation trajectory is obtained through the nonlinear optimization method;a semi-definite programming method for solving robot dynamics parameters was established through robot dynamics parameters constrains.Based on the URDF file,the dynamics parameters of the robot were extracted,and on this basis,the virtual prototype model of the robot was established using Simscape simulation technology;the dynamic parameter simulation experiment was carried out with the designed excitation trajectory and dynamic parameter identification method;direct Lyapunov method was used to designed the robot's robust controller.Finally,the control system of the robot was developed through Simulink Desktop Realtime(SDRT),and the experimental platform was built;the robot dynamic parameter identification experiment was conducted,and the joint trajectory tracking experiment was carried out by means of dynamic compensation with robust controller.