一种多关节轻量化离散驱动机械臂的设计与研究

Study and Design of a Light-weight Multi-joint Discretely-actuated Manipulator

基于单马达驱动技术设计了一种5自由度的多关节轻量化离散驱动机械臂,机械臂各个关节采用离合器进行控制,多个关节共用一个驱动电机。针对机械臂特殊的传动链结构所造成的关节运动耦合特性,进行分析并提出了补偿措施。为研究机械臂的振动特性,利用ANSYS仿真软件对机械臂进行了模态分析,仿真结果表明机械臂激励频率远离其固有频率。通过对机械臂进行运动学正反解,并利用MATLAB进行仿真分析得到该机械臂能够通过关节联动的方式实现复杂运动轨迹。

Based on single-motor drive technology,a new light-weight multi-joint discretely-actuated space manipulator with 5 degree of freedom （DOF） was designed. More than one joint of which was driven by one single motor,and each of its joint motion was controlled by clutches. Aimed at the coupling characteristics of joint motion,which were caused by the particularity of transmis-sion chain structure,analysis were done,and some compensation measures were given. In order to study the vibration characteristics of the manipulator,the model analysis was carried out by using ANASYS simulation software. The result of stimulation presents that the natural frequency is far away from energizing frequency of the manipulator. Through kinematics positive and negative solving of the manipulator,and simulated analysis by MATLAB,it is found that this manipulator can implement complex trajectory with several joints working together.