Simulation analysis of space trajectory planning for multi-joint bionic scorpion manipulator

Ning Cao; Jinsheng Liu; Xuming Pei; Duanqin Zhang; Chao Wu; Zhigen Fei

doi:10.1117/12.2686562

10 August 2023 Simulation analysis of space trajectory planning for multi-joint bionic scorpion manipulator

Ning Cao, Jinsheng Liu, Xuming Pei, Duanqin Zhang, Chao Wu, Zhigen Fei

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127593L (2023) https://doi.org/10.1117/12.2686562
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

The multi-joint mechanical arm has become the necessary production equipment. This paper aims to research space trajectory planning of multi-joint bionic scorpion manipulator to realize the polarizer attachment motion. By modeling of the structural connection relationships of bionic scorpion manipulator, the quintic polynomial method can be used for modeling of joint space trajectory planning algorithm. Working space of bionic scorpion manipulator for attachment motions can be determined by means of simulations. The underactuated and fully actuated motions are compared to analyze the planned space trajectory by motion simulations of different driving modes. This method can provide the high practical value and application prospects for the space trajectory planning during the dynamic simulation.

Citation Download Citation

Ning Cao, Jinsheng Liu, Xuming Pei, Duanqin Zhang, Chao Wu, and Zhigen Fei "Simulation analysis of space trajectory planning for multi-joint bionic scorpion manipulator", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127593L (10 August 2023); https://doi.org/10.1117/12.2686562

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