Tan Yuegang

Deng Yuhui

Wu Zhengping

School of Mechanical and
Electronic Engineering,

Wuhan University of Technology,

Wuhan 430070, China

Abstract: A new nonholonomic transmission mechanism is proposed based on the nonholonomic theory and nonlinear control principle, and combined with conditions of the nonholonomic motion planning and control, that is researched to compose method of the motion transfer chain from this transmission mechanism, on which a new nonholonomic manipulator is designed. This nonholonomic manipulator is a controllable multi-joint manipulator that actuated only by two-servo electromotor. Its motion expresses the characteristic of nonholonomy constraint and nonlin-ear, and that also satisfies the chained form convertibility. And then, using the nonlinear control principle of chained system, motion characteristic of the nonholonomic manipulator is applied. From simulation verification and analysis, the usefulness of the theoretical design and control strategies is shown, and that is important in design and research of handiness robot and multi-finger robot hand.

Key words: Nonholonomic system  Nonholonomic motion planning  Nonlinear control  Multi-joint  Manipulator