基于虚拟样机的液压全驱多指手的设计与仿真研究

发布时间：2018-02-01 12:28

本文关键词： 多指手液压驱动电液比例控制仿真　出处：《安徽工业大学》2011年硕士论文　论文类型：学位论文

【摘要】：多指灵巧手作为工业机器人与外界进行作用的最后执行元件，其抓取和操作的研究已经成为当今机器人领域中一个重要的研究主题。目前由于驱动方式和动力装置的限制，造成多指手的端面负载能力有限，只能抓起很小、很轻的物体，多指手的应用还停留在实验室研究开发阶段；因此，选择合适的驱动方式对多指手的工业实用性能和操作可行性具有决定性意义。为了解决手指在体积、负载、驱动和控制之间的矛盾，本课题以机器人多指手为研究对象，在对国内外多指手研究现状分析基础上，从机构学入手，采用串联四连杆机构的设计方案，通过液压全驱动进行控制。通过对其关键技术的研究，，旨在解决多指手体积与负载能力之间的矛盾，并对为提供稳定精准抓取而采取的控制方案进行探究。论文首先在对驱动系统对比分析以及传动方式研究基础上，将基于连杆的可变四边形机构和液压驱动器集成在手指上，提出了基于液压全驱动的多指手设计方案与机械结构模型；然后对多指手单指机构进行了运动学建模分析，推导出手指关节角与液压缸行程的运动学关系，并利用MATLAB计算出指端包络空间。其次，根据抓取操作的特点设计了手指机构的液压驱动系统，详细阐述了多指手抓取过程中的液压原理，并根据设计要求选择了相应的液压元器件。为简化分析，根据抓取控制策略将手指机构整体液压系统划分基于位置控制与力控制的两个简化子系统，建立了相应的数学模型；在获得液压参数基础上，对各子系统的液压动态特性进行了仿真分析。为改善手指机构液压系统控制性能，引入PID控制器进行校正调节。最后，利用虚拟样机仿真技术在动力学仿真软件ADAMS中搭建了多种手的仿真机械模型并进行了抓取仿真试验。通过仿真验证理论设计计算的正确性，并由分析结果探讨了基于液压全驱动的多指手研制的可行性与有效性。以上研究内容不仅对机器人多指手的理论研究具有一定的指导作用，同时还为未来多指手的样机开发和工业应用奠定基础。
[Abstract]:Multi - fingered dexterous hand , as the last executing element of industrial robot and external force , has become an important research topic in the field of robot . Due to the driving mode and the limitation of the power device , the end surface loading capacity of the multi - fingered hand is limited , only a small and light object can be picked up , and the application of the multi - fingered hand is still in the research and development stage of the laboratory ; therefore , the selection of a suitable driving mode can be decisive for the industrial practicability and the operation feasibility of the multi - fingered hand . In order to solve the contradiction between the volume , the load , the driving and the control of the finger , this topic is based on the analysis of the present situation of multi - fingered hand . Based on the analysis of the present situation of multi - fingered hand at home and abroad , the design of four - bar linkage mechanism is adopted to control . Through the research of the key technology , the paper aims to solve the contradiction between the volume of the multi - fingered hand and the load capacity , and to explore the control scheme adopted to provide stable precise grasping . Firstly , on the basis of comparative analysis and transmission mode of the drive system , the variable quadrilateral mechanism and the hydraulic driver based on the connecting rod are integrated on the finger , and a multi - fingered hand design scheme and a mechanical structure model based on the hydraulic full drive are put forward ; the kinematic model analysis is carried out on the multi - fingered hand single finger mechanism , and the kinematic relation between the hand knuckle angle and the stroke of the hydraulic cylinder is deduced , and the finger end envelope space is calculated by MATLAB . Secondly , according to the characteristic of grabbing operation , the hydraulic drive system of finger mechanism is designed , and the hydraulic principle in the grasping process of multi - fingered hand is explained in detail . According to the design requirement , the corresponding hydraulic components are selected . Finally , the simulation mechanical model of various hand is built in ADAMS of dynamic simulation software by using virtual prototype simulation technology , and the simulation test is carried out . The correctness of calculation is verified by simulation , and the feasibility and effectiveness of multi - fingered hand development based on hydraulic full drive are discussed . The above research not only has a certain guiding role for the theoretical research of robot multi - fingered hand , but also lays a foundation for the development of prototype and industrial application of multi - fingered hand in the future .

【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TP242.2;TH137

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