RESEARCH ON DYNAMIC CHARACTERISTICS OF 5-DOF SERVICE ROBOT MANIPULATOR

Li Yang, Cheng Weiming, Gong Chengwen Bian Jiajia

Abstract: In view of the less application scene of the family service robot in real life, the design scheme of the 5-DOF manipulator is determined and its main dynamic characteristics are studied in the actual life of the multi-freedom manipulator. The joint structure of the 5-DOF manipulator is designed. The distribution of joint freedom and the selection of joint motor and reducer are introduced, and the connection mode of motor and reducer is introduced. The dynamic equation based on Lagrange is designed, and the main parameters affecting the dynamic characteristics are deduced. A simulation based on speed and acceleration is designed to verify the accuracy of the dynamics. The application results show that the whole design scheme is reliable and can achieve the designed target.

Keywords: Service Robot; Dynamics Analysis; Lagrange; Simulation Analysis

DOI: https://doi.org/10.15623/ijret.2018.0708015