Open AccessKinematics and Error Analysis of Single Motor Driving Multi-Stage Metamorphic Mechanism
Author(s) -
Ge Zhuang,
Leichao Xie,
Shangkui Yang,
Shuyun Zhu,
Ye Cao,
Yuwang Liu
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/677/5/052108
Subject(s) - kinematics , mechanism (biology) , computer science , trajectory , work (physics) , control theory (sociology) , simulation , artificial intelligence , engineering , control (management) , mechanical engineering , philosophy , physics , epistemology , classical mechanics , astronomy
Traditional series robots have the disadvantages of complex structure and complicated control. Almost all of them have no adaptive ability. Although soft robots have good adaptive characteristics, they also have the limitations of poor bearing capacity and low stiffness. In addition, their motion trajectory and motion precision are difficult to achieve accurate control. In order to solve the above problems, based on a single motor-driving multi-stage metamorphic mechanism, this paper carries out kinematic analysis and error analysis to determine the motion trajectory and motion accuracy of the multi-stage metamorphic mechanism. And this paper uses ADAMS to carry out simulation calculation. Comparing the theoretical calculation results and simulation calculation results, and determining the errors between the multi-stage metamorphic mechanisms, so as to ensure the accurate position of the multi-stage metamorphic mechanism during work. The multi-stage metamorphic mechanism realizes stable and efficient work.