Based on the analyzing of opened-chain series structure type of the manipulator

a new type of multi-joint electric driven closed-chain structure 5-DOF manipulator is designed and developed

the overall design

structure design

control system design and kinematics simulation analysis by ADAMS are carried out.The manipulator has the advantages of good rigidity

high precision

high degree of modularity

easy to manufacture and low cost.It can be applied to industrial production of disassembly

welding

transport and other operations

and can be also applied to the university experiments teaching and research work.