Kinematic analysis of deflection-jointed manipulator based on geometric analysis

Abstract The irreplaceable role of high load-deadweight ratio robotic arms has become increasingly prominent in manufacturing and service industries. Based on the analysis of the influence of the angle between the joint axis and the adjacent member on the motion characteristics and bearing capacity of the manipulator, the deflection joint layout is proposed, and the deflection joint manipulator is designed. The deflection joint manipulator is abstracted as an equivalent simple tandem mechanism, the deflection joint motion equation is extracted according to the deflection joint motion characteristics, and the solution method of the end pose of the manipulator is established. By decoupling the end position parameters to the distance parameters, the height parameters, and the turnover angle parameters, the joint angle solution formula is established, and the analytical inverse solution of all kinematics of the deflecting joint manipulator is obtained. The simulation results of the deflection joint manipulator verify the feasibility and accuracy of the kinematics solution method.