Research On End-effector Design And Trajectory Planning Technology Of Manipulator

With the development of unmanned combat system,unmanned combat theory and unmanned combat equipment basically reach the level of actual combat application.Ground unmanned combat platform is recognized as an indispensable force of ground battlefield because of its outstanding advantages of high precision,high efficiency and low risk,and becomes an important combat means of future unmanned battlefield in unmanned combat theory.With the deep research of ground unmanned combat platform,all departments have developed more mature ground unmanned combat equipment.However,due to the insufficient practice and exploration of unmanned combat equipment in the complex and unknown battlefield environment,the ground unmanned combat platform in the actual combat process,there are still some problems such as poor permutation,low flexibility and limited function.Based on the development trend of ground unmanned combat platform,this paper studies the task loads of different end-effectors with the support of robot arm by analyzing the requirements of different target tasks,according to the requirement of moving smoothly at the end of the task,the kinematics model of the manipulator is established,the smooth trajectory scheme is determined,the trajectory tracking platform is built,and the trajectory optimization method is verified.The main research contents of this paper include:1.The end-effector configuration of the strike task manipulator was designed.Based on the basic hypothesis of interior ballistics,the recoil force model of weapon system is established.Based on the design method of compliant mechanism,the configuration design of the compliant buffer mechanism at the end of the manipulator was realized by means of finite element simulation,calculate and check the designed structure.2.The kinematics and dynamics models of the manipulator carrier system are established.Based on the MDH(modify D-H method),the forward kinematics,inverse kinematics,Jacobian Matrix and determinant and dynamics of the manipulator are derived.The workspace of the manipulator is analyzed based on the kinematics model,and the correctness of the model is verified by simulation3.The trajectory planning and tracking control of the manipulator end-effector are realized.Based on the position and attitude description method of Bézier curve and unit quaternion,and the interpolation method of linear interpolation and spherical interpolation,the trajectory generation of the designated position and the designated attitude at the end of the manipulator is realized,based on the dynamic trajectory tracking control model of the manipulator,the trajectory tracking at the end of the manipulator is realized,and the Variation Law of the angle and velocity of the manipulator is analyzed.4.The trajectory optimization method based on the direct collocation method is explored.The description of optimization problem based on the direct collocation method is studied,the multi-objective optimization content of the manipulator is analyzed,and the analytical solution equations of the dynamics of the manipulator are derived,the parameter optimization strategy based on the direct collocation method is realized,and the effectiveness of the method is verified.