一种模块化机械臂的设计与运动学分析

The design and kinematic analysis of a modular manipulator

研制一种新型机械臂模块化旋转关节.为使模块化关节结构更紧凑,采用电机、编码器和制动器轴线平行的布置方式,具有标准的机械、电气接口,可以根据需求组装成不同构型的机械臂;针对模块化机械臂运动学不具有通用性的问题,基于构型平面匹配的方法,将空间构形转换为平面几何关系,实现对机械臂的模块化运动学求解;设计了机械臂运动学仿真平台,能够快速获得不同构型机械臂的运动学;结合该模块化旋转关节的特点,构建分布式控制系统,实现了对各种构型机械臂的控制.

A new modular rotary joint characterized with compact module structure, light weight and large output torque had been developed, in which the motor, encoder and brake were arranged parallel to the axis. The modular joints could be assembled into different manipulators based on the needs benefiting from their standard mechanical and electrical interface. To settle the non-commonality of modular manipulator kinematics, the spatial configuration was converted to coordinate relations in plane geometry on account of matching configuration plane, so that the modular kinematics solution of manipulator was realized. Besides, a manipulator kinematics simulation platform was designed to obtain kinematics of manipulators with different configurations. Finally, a distributed control system was built to control the manipulators with various configurations assembled with the developed joint module.