Design and Development on a Reconfigurable Modular Joint of the Robot Arm

Abstract

According to the mathematical model of the mechatronics integration of the flexible robot joint, a modular joint structure is proposed. The factors, which influence the stability of the whole modular mechanical and electrical system bandwidth, are analyzed by force/position hybrid control strategy. Furthermore, these analyses provide the theory basis for reducing the vibrating and motion error. Based on the results of the analysis, multi-objective dynamic optimization algorithm is used to obtain the set of optimal mechanical and controller parameters for the modular joint system, and the key parts are the preferred selection. Finally, the experiment about the precision of modular joints showed that the modular joint can achieve the desired accuracy and provided theoretical basis and design reference for the design of modular joints to performance better.