Research Of Flexible Manipulator Based On SVM Inverse System

In the world transmission market,Manual transmissions(MT)still occupy a large share at present.As the most important part of the transmission's production process,transmission line test is responsible for the detection of the assembling and even the designing defects,and to prevent the unqualified products flowing into the market.With the rapid development of the domestic automobile industry,the demand for automatically is increasing quickly.But,as one of the most important parts of the offline test bench,the shifting manipulator has been adopted by the foreign joint manipulator which restricts the bench's cost control and function expansion.This paper is commissioned by CTL to develop a shifting manipulator which is able to replace the foreign joint manipulator.Firstly,the paper introduces the research status of shifting manipulator at home and abroad.Combining the low cost requirements with the manipulator's real working conditions,this paper designs a Cartesian coordinate manipulator platform structure which includes four prismatic joints and two rotary joints.The paper puts forward a method to put the rotation center lines of the two-claws cylinder and shifting shaft into one line,and designs the manipulator's actuator based on this method.After selecting and purchasing the mechanical parts and sensors according to the design of manipulator's platform and actuator,this paper assembled all the components together to build the manipulator.Secondly,this paper establishes the manipulator's links transformation matrix and kinematics equation by using the D-H method.Because the manipulator needs to get each joint's parameters by using the actuator's position's parameters,so the kinematics inverse solution is solved in this paper.These works provide methods and basis to build the manipulator's control system.Thirdly,the paper designs the control system's implement scheme according to manipulator's function requirements,and purchases the electrical components according to this scheme.To actualize the control system's function,this paper programmes the control system by using VB programming language.During the course of the actual shifting test,it is found that there is always remaining a included angle between the two rotary axes.After analyzing the reasons,this paper establishes the model to predicte and compensate the error by using the SVM's advantages in small sample problems.