Key Technology Research For Reconfigurable Modular Joint Robot

With the development of this science and technology continues to progress,robot as a kind of flexible mechanical and electrical products is widely used in the manufacture of industrial production.But,when facing the changeable environment,the traditional industrial robots will not be able to timely adapt to the new tasks,and even be eliminated.Based on the requirements of modern robotics development and manufacturing life,the concept of modular reconfigurable robots is introduced.Now,this kind of robot has been accepted and applied to the space station,space station,nuclear environment and war,Therefore,the research on modular reconfigurable robot has important scientific significance.For this,according to the guiding thought of modularization reorganization,in this paper,the mainly some work is as follow:Researching on modular and reconfigurable technology of robot.Several joint modules and connecting rod modules are designed,the different degrees of freedom and different functions of the robot are obtained by the mechanical combination of various modules,and the simplified and modeled of reconfigurable robot modules.The modular and reconfigurable robot kinematics and dynamics were studied.Exponential product formula of reconfigurable robot kinematics model is set up,for this kind of robot kinematics positive solution are analyzed in detail,using d-h parameters method and exponential product method,analysis of two kinds of methods to resolve the positive solutions of their respective advantages,application of Robotics in MATLAB Toolbox tool for robot simulation analysis;Robot Lagrange model is established,using the continuous dynamics equations of robot,and the vector analysis method with Lagrange method dynamic equation,and the dynamics of ADAMS and MATLAB joint simulation.Researching on control and Process simulation technology of reconfigurable robot.Building the modular and reconfigurable robot control system hardware platform and developing the system software.Using the experiment simulation verifies the correctness of robot control program.