Pickup Manipulator Design and Its Kinematics Simulation

2nd International Symposium on Resource Exploration and Environmental Science

生态环境科学

Zhang, Zhongdang^1,2 ; Zhang, Zhaoqiang^1,2 ; Ma, Shitai^1,2 ; Zhou, Haibo^1,2

Tianjin University of Technology, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin

300384, China^1

National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin

300384, China^2

关键词: Closed-loop control;    Inverse kinematics solutions;    Kinematics simulation;    Manipulator designs;    Manipulator structures;    Motor control system;    Simulation analysis;    Theoretical calculations;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/170/4/042136/pdf
DOI  :  10.1088/1755-1315/170/4/042136

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

In order to improve the flexibility of the pickup manipulator and solve the problem of picking up small sports balls in training ground such as golfing, tennis, and table tennis, a 5-DOF pickup manipulator structure is designed. According to the pickup task requirements of the manipulator, through theoretical calculations, the 86HS series stepping motor is selected as the driving motors of the front end joints. Based on this, the stepping motor control system is designed to realize the closed-loop control of the manipulator. Then the manipulator model is built using D-H method, the inverse kinematics solution is calculated, and the analysis of kinematic theory is conducted. Finally, the targeted pickup point is selected to carry out case simulation analysis of the manipulator, the motion law of the manipulator is verified to be reasonable and the task of picking up small sports balls is completed.