Holding manipulator and synthesizing
Precision metalparts Holding manipulator and synthesizing the robot
research and development condition in recent years, a economic scheme is
concluded on the basis of the analysis of mechanical configuration, transform
system, drive device and control system and guided by the idea of the
characteristic and complex of mechanical configuration, electronic, software
and hardware. In this article, the mechanical configuration combines the
character of direction coordinate which can improve the stability and operation
flexibility of the system. The main function of the transmission mechanism is
to transmit power to implement department and complete the necessary movement.
In this transmission structure, the screw transmission mechanism transmits the
rotary motion into linear motion. Worm gear can give vary transmission ratio.
Both of the transmission mechanisms have a characteristic of compact structure.
The design of drive system often is limited by the environment condition and
the factor of cost and technical lever. The step motor can receive digital
signal directly and has the ability to response outer environment immediately
and has no accumulation error, Precisionmetal parts which often is used in driving system. In
this driving system, open-loop control system is composed of stepping motor,
which can satisfy the demand not only for control precision but also for the
target of economic and practicality. On this basis, the analysis of stepping
motor in power calculating and style selecting is also given. The analysis of
kinematics and dynamics for object holding manipulator is given in completing
the design of mechanical structure and drive system.
Current industrial approaches Precision metal parts to robot arm control treat each joint of the robot arm as a simple
joint servomechanism. The servomechanism approach models the varying dynamics
of a manipulator inadequately because it neglects the motion and configuration
of the whole arm mechanism. These changes in the parameters of the controlled
system sometimes are significant enough to render conventional feedback control
strategies ineffective. The result is reduced servo response speed and damping,
limiting the precision and speed of the end-effecter and making it appropriate
only for limited-precision tasks. Manipulators controlled in this manner move
at slow speeds with unnecessary vibrations. Any significant performance gain in
this and other areas of robot arm control require the consideration of more
efficient dynamic models, sophisticated control approaches, and the use of dedicated
computer architectures and parallel processing techniques.
