Workspaces solution for open-chain joints articulated manipulator through multi-micro-electromotor driven

摘要

The article introduces a novel open-chain joints articulated manipulator through multi-micro-electromotor driven used in welding small pipes and containers or inspecting their weld quality of the inner wall. A practical simulation means has been explored and applied for the serial-chain joints articulated manipulators. Based on the structural characteristics analysis of the articulated manipulator, its link mechanisms had been designed and constructed. The parameters had been made sure of the link mechanisms constructions and reference frames as well as. The D-H transforming Matrixes functions ([1]) about the manipulator link mechanisms were produced for the serial-chain joints; articulated manipulator, then its kinematics analysis and solution had been obtained forward. The rationality of,the serial-chain joints articulated manipulator structure design has been then verified by its workspace. simulated researches, through programming and computation on MATLAB programming software, and characterized by compact structure, small volume, lightly weights and flexibility.