Kinematic Analysis, Simulation and Manipulating of a 5-DOF Robotic Manipulator for Service Robot

摘要

Five degrees of freedom (5-DOF) robotic manipulator has the advantage of simple structure, flexible action, small volume, convenient operation and so on, which is widely used in many fields. A light weighted 5-DOF robotic manipulator with a three-finger end effector was designed and manufactured for service robot. In order to make the robotic manipulator more stable, faster and more accurate, a series of analysis and simulation of the 5-DOF robotic manipulator are carried out in this paper, including kinematic analysis of the mechanical arm, the mechanism analysis, motion analysis and force analysis of the end effector. In addition, the kinematical model simulation of the mechanical arm was employed, and the stress analysis and strain analysis were applied. A force control model of the end effector based on BP neural network algorithm was also presented to control the clip force. The effectiveness of the manipulator model was validated by corresponding experiments.