Research On Rapid Kinematics And Dynamics Modeling Method Of The Modular Manipulator

Modular manipulator make up for the shortcomings of general manipulator which unable to adapt the change of work environment or mission. Modular manipulator can adapt to different working environments or changing tasks through refactoring. In the reconstruction process, we must re-model modular manipulator, in order to achieve modular manipulator control. In the process of adjusting the modular manipulator configuration to suit the appropriate work environment and tasks, reconstruction requires repeated many times to find the optimal configuration, in a short time needed for modeling multiple modular manipulator. For that reason, it has very important theoretical significance and application value to research rapid modeling of modular manipulator.Therefore this thesis will focus on the conceptual design of the module, the modular manipulator kinematics rapid modeling, inverse kinematics solver algorithm, based on joint space path planning, modular manipulator dynamics fast modeling methods and verify the feasibility of the corresponding algorithm. The main contents of the study include the following aspects:First, this thesis analyzes the basic structure of a complete modular system of the modular manipulator. Describes the advantages of modular design, illustrate the general principles of module division. Using Pro/E to design the corresponding base module, joint module, rectangular link module, planar link module and end effector module. In order to further facilitate the conduct of the modular manipulator kinematics and dynamics modeling, using the idea of mathematical expressions, to design a mathematical description of the module.Second, this thesis research on modular manipulator kinematics modeling method. The purpose is to increase its forward kinematics modeling and solving speed for modular manipulator. Solving the forward kinematics modeling of modular manipulator based on the method of spinor. The use of spinor method to establish coordinate system is very simple and efficient, compared to the traditional D-H parameter method, modeling process is greatly simplified, saving the time to establish the coordinate system. The method is applied to modular manipulator, to prove the feasibility and effectiveness of the method.Again, the modular manipulator inverse kinematics and path planning is studied. Based on the Newton-Raphson iterative method, the modular manipulator inverse kinematics is solved. Comprehensively expounded manipulator path planning method, studies in modular manipulator joint space path planning to obtain the corresponding path planning parameters. A modular manipulator path planning experiments is conducted to verify the correctness and effectiveness of the algorithm.Finally, dynamic model of the modular manipulator is solved by using of the space operator algebra theory. For manipulator model defines its related symbols, use of space operator complete modular manipulator velocity, acceleration and force out recursion, moment inward recursive, resulting in a space operator algebra-based efficient modular manipulator inverse dynamics model. Kalman filtering principle is used to simplify its inverse calculation, resulting in a highly efficient modular manipulator dynamic model. The space operator algebra theory and traditional method is compared to verify the efficiency of the space operator algebra theory.