Design And Research Of A Modular Manipulator Joint

Modular joints are the key parts of the manipulator,and are highly integrated electromechanical equipment.Modular manipulator can satisfy variety of special field work requirements,and now are playing more and more important roles in the field of industrial area,home services,aerospace,even in the terrorism field.This thesis comes from the national "973" project,the main propose is to develop a modular manipulator which can be used as a testbed for verifying the motion control method.The main research content of this thesis are as follows:Firstly,the structure of the modular manipulator joint is studied in this thesis.Based on the researching of module joint’s structure all over the world,the design index of modular joint is determined.And then Combined with the design index,the mechanical design scheme of modular joint is determined.Through the force analysis for joints and manipulators,this thesis designed and selected the type for the key components of modular joint.Finally through the three-dimensional modeling and assembly,the physical prototype of modular manipulator joint is completed.Secondly the control system of the modular manipulator joint is studied in this thesis.Combined with the design indicators,this thesis analysis control system composition and function.And from the needs analysis,modular joint control strategy is determined.Then this thesis designed from hardware system and software system to determine the specific functional modules of the control system.Through schematic design and analysis,the control circuit board of modular joint is determined.Combined with the hardware system and kinematics modeling,the software system of modular joint is completed.Thirdly the experiment and research of the modular manipulator joint is carried out in this thesis.This thesis established experimental platform for modular manipulator joint and designed the content of experiment.Then through measured the motion performance of modular joint,the validity of the modular joint structure design and control system is verified.