Establishment of dynamic model of automatic tool changing manipulator

Inhalt:
The automatic tool change when the manipulator top priority is for the sword movement accuracy, but the working process of the manipulator process, involving both static and dynamic process, involving its joint manipulator in development should not only solve the problem of space position, analysis and calculation and driving force of the joints, torque and speed, acceleration and so on, in order to achieve real-time control of robot hand action. Firstly, the velocity Jacobian matrix of automatic tool changing manipulator is established to describe the mapping between manipulator operation space and joint space. The static Jacobian matrix of the manipulator is constructed with the force or torque of the end to bear the external force or torque. On this basis, the mapping relationship between the joint force and torque of manipulator and the displacement, velocity and acceleration is established by Lagrange equation. Solve the Lagrange function L, take the derivative to establish the Lagrange equation. The static and dynamic analysis of the tool changing manipulator is carried out to lay a foundation for its automatic control.