装配线用灵巧手系统研究

发布时间：2018-07-20 11:03

【摘要】：针对生产装配场合日益强烈的自动化使用要求,传统机械手传动方案空间布局困难、成本高昂的现状,本文设计了装配线用灵巧手,以经济的成本实现了系统功能。针对灵巧手机械平台的控制需求,和自主研发的控制器快速开发的使用需求,设计了结构化自然语言的集成开发环境,可帮助研究人员实现控制器的快速重构式开发。系统采用推拉软轴和步进电机结合的传动方案,将动力源置于机构末端,通过推拉软轴传递动力,解决了中低成本灵巧手系统空间布置的限制问题。通过步进电机的正、反向运转,带动张紧的推拉软轴柔索绕滑轮机构顺、逆时针滑动,分别驱动连杆机构手指的两个关节绕其转轴顺、逆时针转动,通过各指不同的姿态和手掌结构的组合,配合舵机驱动的机械臂和三轴直线滑台模组,可在一定空间范围内完成抓取、握持、旋转等动作,满足装配线的基本使用功能。通过归纳人手运动姿态,分析了系统正常工作时,灵巧手完成各装配动作时的运动姿态。基于动作要求,设计、优化了各手指、手掌和各连接件的结构,完成了样机的制作和装配。针对灵巧手机械平台的实际控制需求,即自主研发的多核异构可编程控制器的快速重构式开发的使用需求,设计了专用的集成开发环境,以结构化自然语言为载体,通过逻辑控制语句和命令语句的组合,可帮助零编程基础的用户实现跨平台代码开发。整合后台转换、编译、调试等功能,实现了多平台软硬件一体化开发,一定程度上降低了机电控制系统的开发难度,提高了项目设计的工作效率。
[Abstract]:In view of the increasingly strong requirement of automatic operation in the production and assembly field, the space layout of the transmission scheme of the traditional manipulator is difficult and the cost is high, the dexterous hand used in the assembly line is designed in this paper, and the system function is realized at an economical cost. Aiming at the control requirement of smart mobile phone platform and the requirement of rapid development of controller, the integrated development environment of structured natural language is designed, which can help researchers to realize the rapid reconfiguration development of controller. The system adopts the transmission scheme of the combination of push-pull flexible shaft and stepper motor. The power source is placed at the end of the mechanism. By pushing and pulling the flexible shaft to transfer the power, the problem of limiting the space arrangement of the dexterous hand system with low cost is solved. Through the positive and reverse running of the stepper motor, the tensioned flexible shafts are driven along the pulley mechanism, sliding counterclockwise, driving the two joints of the fingers of the linkage mechanism to rotate counterclockwise, respectively. Through the combination of different gestures of each finger and palm structure, with the mechanical arm driven by the steering gear and the three-axis linear sliding table module, the grasping, holding, rotating and other actions can be completed within a certain space range, and the basic functions of the assembly line can be satisfied. Through induction of manual motion posture, the kinematic posture of dexterous hand when the system works normally is analyzed. Based on the action requirements, the structure of fingers, palms and connectors is designed and optimized, and the prototype is made and assembled. In view of the actual control requirement of the dexterous mobile phone equipment platform, that is, the rapid reconfiguration development of multi-core heterogeneous programmable controller, a special integrated development environment is designed, with structured natural language as the carrier. Through the combination of logic control statement and command statement, it can help users of zero programming to realize cross-platform code development. By integrating the functions of background conversion, compilation, debugging and so on, the integrated development of multi-platform hardware and software has been realized. To some extent, the difficulty of developing electromechanical control system has been reduced, and the work efficiency of project design has been improved.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG95

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