Design and finite element analysis of new modular manipulator
WANG Yang, GUO Linfu
(School of mechanical and electronic control engineering, Beijing Jiaotong University, Beijing 100044, China)
 

Abstract: Aiming at the design features and technical difficulties, the main body structure of the manipulator was studied.A new modular design method was put forward, which is based on Solidworks, and the design of modular manipulator servo unit was carried out. The motor and harmonic reducer of manipulator were selected.The torque of different joint angles was calculated and the final selection scheme was determined. The finite element analysis of the key parts of the manipulator was made by using Ansysworkbench, and the stress and displacement contour of the important parts such as the second joints of the manipulator were obtained. The hardware design was carried out from the angle of volume layout and working mode. Closed loop control algorithm and force feedback algorithm were used to realize the force feedback of three closed loop servo motor control and integrated servo drive unit. Finally, based on the structure and algorithm, a series of OUR modular manipulators were developed. The research results indicate that the key components have large stiffness and strength, each joint has a high degree of independence and modularization.
Key words: 3D modeling; modularization; servo drive; finite element; closed loop control; force feedback