Type synthesis and performance analysis of manipulators with shape adaptability

摘要

Manipulators have attracted wide attention in recent years because they are simple and easy to control when grasping objects in space. However, there are not many theoretical researches on manipulator at present. Therefore, based on the principle of simple operation and low cost, a manipulator with high versatility, high flexibility, diverse movement modes, and shape adaptability has laid a solid theoretical foundation and practical significance for the innovative development of robot. In this paper, a 4-RRS& planar four-bar mechanism with bifurcation motion is proposed based on the finite screw theory. The degrees of freedom of the mechanism are analyzed by using the screw theory. Then the closed-loop vector method and instantaneous screw method are used to establish the analytical expression and the velocity Jacobian matrix between the motor actuation angle and the moving platform, respectively. Finally, on the basis of kinematic analysis, the SolidWorks and Matlab software are used to verify the kinematic simulation of the mechanism, so as to ensure the rationality of the mechanism motion and the correctness of the theoretical derivation.