Mechanical structure limitation: the joint structure and mechanical parts of the manipulator are unreasonable, which leads to the manipulator unable to complete a wider range of motion.
Motor drive limitation: the motor drive torque of the manipulator is insufficient, which can not overcome the stress limitation of the joint, thus limiting the motion range of the manipulator.
Limitations of the control algorithm: The control algorithm of the manipulator is designed irrationally, which can't precisely control the movement of the manipulator, thus limiting the movement range of the manipulator.
In view of the above problems, the following measures can be taken to expand the motion range of the manipulator:
Optimize the mechanical structure: redesign the joint structure and mechanical parts of the manipulator to reduce the weight of the manipulator and improve the stiffness and accuracy of the manipulator.
Increase the driving torque of the motor: replace the motor, reduce the transmission ratio, etc. To improve the driving torque of the manipulator, so that it can overcome the stress limitation of the joint, thus expanding the motion range of the manipulator.
Optimal control algorithm: adopt more advanced control algorithms, such as model predictive control, adaptive control, etc., to control the motion of the manipulator more finely, thus expanding the motion range of the manipulator.
Through the comprehensive application of the above measures, the motion range of the manipulator can be effectively expanded and the flexibility and applicability of the manipulator can be improved.