| In recent years,with the rapid development of automation technology and artificial intelligence,intelligent robots are widely used in agriculture,industry,aerospace and many other fields.As one of the important actuators of robot motion,robotic arms can replace human arms to complete various operations,reducing labor consumption and improving work efficiency to a certain extent.Robotic arm in the process of work through the interaction with the surrounding environment,manipulation system to accurately grasp the target object,because of the different work scenarios,how to design a more reasonable and more accurate robotic arm has become a new challenge,the actual work of most robotic arm structure position in a fixed state can not be manipulated to move,in the face of the increasingly complex industrial,service industry and other application scenarios,the fixed robotic arm application scenarios are relatively In the face of the increasing complexity of industrial and service industry applications,the fixed robotic arm application scenario is relatively single,which hinders the development of robotic arm in the direction of multi-function.In this paper,through the study of five degrees of freedom robotic arm kinematics and mobile platform,the two are combined to make the robotic arm reach any position in the work area for operation through control,and the robotic arm is equipped with a mobile platform to give full play to the ability of grasping target objects in the work space.Firstly,by reading the relevant literature in the field of robot and robotic arm,we understand the history and current situation of robot development at home and abroad.The experimental design scheme is proposed,and the hardware selection of the five-degree-of-freedom robotic arm module is organized and planned.The new high-torque powerful digital servo is used to reduce the response interval and improve the response speed,and finally,by combining the five-degree-of-freedom robotic arm with the crawler-type mobile module,the mobile system cooperates with the robotic arm module to improve the overall mobility and flexibility.Secondly,the kinematic model is constructed by the modified D-H method(DenavitHartenberg),the forward and reverse kinematic equations of the robot arm are derived and calculated,the working space range of the robot arm is analyzed using the Monte Carlo method,and the simulation is verified in MATLAB.Then,learn to master the physical and mathematical relationships of the kinematics of the robotic arm,and lay the theoretical foundation for the subsequent design of the robotic arm trajectory planning.Firstly,the trajectory planning of the robotic arm is carried out in Cartesian space using interpolation algorithm,and then the trajectory planning of the robotic arm in joint space using seventh polynomial interpolation algorithm is analyzed in detail,simulated in MATLAB and compared with the third polynomial interpolation algorithm to compare the changes of the trajectory under different algorithms.The experimental results verified that the joint trajectory of the fivedegree-of-freedom robot arm model is smooth and continuous without sudden changes when using the seventh polynomial interpolation algorithm for trajectory planning,which improves the motion accuracy of the robot arm and reduces the loss of hardware caused by jitter,and has certain application value.Finally,after building the hardware and software system of the experimental platform,the fivedegree-of-freedom robotic arm is controlled by the host computer for clamping experiments to observe the changes of the joints and their movements.The driving ability of the experimental platform was verified by testing the basic functions such as traveling and moving,and the experiments were conducted on the plane and slope respectively,and the results showed that the experimental platform could meet the design requirements. |
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