Structure Design And Research Of Rope Driven Hyperredundant Manipulator For Narrow Space Operation

Due to the limitation of size,flexibility and quality,the traditional manipulator is difficult to work in the complex unstructured and small space such as nuclear power equipment maintenance,aviation equipment detection and cleaning,and pipeline internal detection.A rope driven hyperredundant manipulator is designed.Currently existing line drive hyper redundant manipulator because of tight rope at work completely,mechanical arm with a rope between will produce larger friction,reduce the service life of the rope,and rope wear after mechanical arm motion accuracy will be greatly reduced,this design in the mechanical arm joints at both ends with a pulley,effectively reduce the friction between the rope and the mechanical arm,improved the precision of the life of the rope and the mechanical arm.Moreover,the existing hyperredundant manipulator only has the freedom of rotation,so the workspace of the manipulator is relatively limited.In this design,a telescopic rod is installed at the root of the manipulator,so that the whole manipulator can move along the horizontal direction,which effectively improves the workspace and flexibility of the manipulator.Firstly,the working requirements and performance parameters of the manipulator are determined.Then,the configuration,driving mode and rope arrangement of the manipulator are selected to complete the overall design of the hyperredundant manipulator.The arm is60 mm in diameter and up to 1142 mm in length,and the mass of the arm is greatly reduced by rearward positioning of the driving part.Then,the robot arm is modeled by Solid Works software.The robot arm has 11 degrees of freedom,including one degree of freedom for horizontal movement of the telescopic rod and five degrees of freedom for joint rotation.One of them is the mobility degree of freedom of the telescopic rod.The hyper-redundancy of the degree of freedom greatly improves the flexibility of the manipulator arm.Finally,the mechanical arm motor selection.Secondly,according to the structural dimension parameters of the designed manipulator,kinematics was analyzed.The standard D-H method is used to establish the kinematics equation of the manipulator,and the positive solutions of joint space and workspace were solved.The simulation was carried out with the MATLAB Robotics Toolbox.And through the Monte Carlo method of the workspace through MATLAB simulation;Finally,the projection relationship between the rope drive space and joint space is analyzed,and the relationship between the motion state of the manipulator and the rope length allocation is obtained.Then using geometric method to solve the mechanical arm to solve the force of each rope and the largest mechanical parts of the arm;The strength and stiffness of the manipulator were verified by Ansys Workbench software.Then,the transient analysis of the manipulator is carried out by ADAMS,and the simulation results are verified.The relationship between the external force and the tension of the rope is obtained by the static modeling of the single joint by the torque balance method.Finally,the method of inverse solution of joint space and workspace of the manipulator is discussed,and the piecewise geometry method is used to calculate and simulate the inverse kinematics of the manipulator,which proves that the method is suitable for this manipulator.Then,the motion planning of straight line and spatial arc is carried out through the difference of cubic spline.The wrapping motion planning of the manipulator is carried out through ADAMS,and the changes of joint angle and angular velocity are drawn.