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Research on Design and Kinematics Character of a New Multi-joint Nonholonomic Underactuated Manipulator

Author: JiangZiQing
Tutor: TanYueGang
School: Wuhan University of Technology
Course: Mechanical Manufacturing and Automation
Keywords: Nonholonomic Mechanical arm Chained system Underactuated Multi-joint
CLC: TP241
Type: Master's thesis
Year: 2005
Downloads: 399
Quote: 2
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Abstract


The nonholonomic constraints exist in the system ( such as the multi-fingered robot hand and wheeled mobile robot ) as well as the conservation of angular momentum of the system ( such as satellite sports and midair with a robot diver or gymnast ) containing rolling contact . This type of problem is usually caused due to a mechanical system the nonintegrable constrained by the speed of this constraint can not be expressed through the integral method into bound form of the configuration space . The same time due to the number of degrees of freedom of the complete system is equal to the number of independent coordinates minus nonholonomic constraint equation number available than the system can reach the configuration space dimension less number of control inputs to determine its movement . Based on existing non- complete theory and nonlinear control method , the friction disc movement decomposition mechanism is applied to the multi-joint robotic arm , designed a new type of multi-joint underactuated controllable nonholonomic mechanical arm . Configuration space dimension less available than the system can reach the number of control inputs to determine the movement of the complete system , on a stand alone two motor to multiple rod driven mechanical arm . This nonholonomic robot motion characteristics of the study show that the system has a non- completeness . Further, proved its controllability, that this robot can be controlled . Further, this paper manipulator chain transform , this does not only because of the generally non - complete system can be reduced to the chained system and, more importantly , is the control of the chain system is relatively easy and mature . After completion of the chain transformation , this study the chained system control method , using time polynomial input control method to achieve the control of the multi-joint robot arm . Finally , design experiments and calculated control input to control the mechanical arm movement, to examine the feasibility and reliability of the algorithm .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Manipulator
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