Development Of Structural Design And Control Algorithm For Six Degrees Of Freedom Modular Manipulator

With the continuous increase of labor costs in China and the urgent need for the transformation of traditional manufacturing industries,the robot industry has received increasing attention from the country as a key technology that can replace the manual and promote the transformation of the manufacturing industry.In the "China Made 2025" released by the state,the robotics industry has been listed as one of the ten key breakthrough areas.This article analyzes the shortcomings of traditional industrial robots once they have been designed,and studies and designs six-degrees-of-freedom modular manipulators that can change with environmental and mission requirements.The main works carried out has the following four points:(1)The structural design of the modular manipulator,including the overall structural design of the manipulator and the design of the modular joint,wherein the overall structural design uses the first three joints as articulated and the last three joints(wrist joints)as manipulators The structure of the fourth joint is parallel to the second and third joints.The main structures of the modular joint design include the harmonic reducer,the front and rear flanges of the harmonics,the servo motor,the brake,and the joint housing of the manipulator.Get the specific model of each part.(2)Based on the design of the modular manipulator,developed and adapted kinematics algorithms,including forward kinematics algorithm and inverse kinematics algorithm,which is an algebraic kinematics inverse solution algorithm,inverse kinematics algorithm,The algorithm is implemented in MATLAB,and the effectiveness of the algorithm is verified by bringing it into two sets of spatial experiment points.(3)Based on the design of the modular robotic arm,a general-purpose dynamics algorithm was developed.This dynamical algorithm can solve the dynamics of robotic arms with different joints without modifying the algorithm itself.The algorithm is written in MATLAB and compared with the existing calculations of the existing dynamic algorithms in the laboratory to verify the feasibility of the algorithm.(4)Finally,a new teaching system based on the modular robot arm and 3D mouse is described.This teaching system is obtained by combining the flexible operability of the 3D mouse with the structural features of the modular robot arm.The control of the robot arm is more flexible and convenient,the efficiency of manual teaching is enhanced,and the effect of saving time and increasing production efficiency is achieved.