基于支持向量机逆系统方法的柔顺机械手研究

发布时间：2018-01-13 06:01

本文关键词：基于支持向量机逆系统方法的柔顺机械手研究　出处：《重庆理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：手动变速器(MT)目前在世界汽车变速器市场中仍然占据着巨大的市场份额。下线检测作为变速器生产制造最后也是最重要的一个环节,担负着发现变速器装配制造缺陷甚至设计缺陷,防止不合格变速器流入市场的任务。随着国内汽车行业的快速发展,变速器生产厂家对全自动下线检测装置的需求日益增长。但是,换挡机械手作为下线检测台的一个重要组成部分却一直采用国外通用关节型机械手,这一点不仅制约了下线检测台生产厂家成本控制,而且也限制了台架功能的拓展。本文依托重庆理工清研凌创测控科技有限公司所生产的手动变速器下线检测台,研制了一种替代六自由度关节型机器人的专用换挡机械手。首先,本文详细介绍了换挡机械手的国内外研究现状,结合下线检测台上手动变速器换挡实际工况与低成本要求设计了包含有一个旋转关节的四自由度直角坐标型机械手手臂。为消除目前用作换挡机械手的六自由度关节型机器人在测量换挡力矩时存在的附加力矩,本文提出了一种自动对中机械手末端二爪气缸与变速器换挡摇臂轴两者旋转中心线的方法,并根据此方法设计了机械手末端执行机构。根据上述换挡机械手平台与末端执行机构设计方案与手动变速器实际换挡过程中选换挡力矩要求,选择并采购了所需的机械零部件与传感器,最后组装完成机械手实物。其次,本文根据机械手结构采用D-H法建立了换挡机械手的连杆变换矩阵,继而可以求得机械手的运动学方程。由于换挡机械手需要在已知末端执行器位姿的情况下求得各个关节变量的解,本文继续求解出换挡机械手的逆运动学解。以上运动学正解与逆解为换挡机械手控制系统中的运动控制控制模块与自动对中模块的实现提供了方法与依据,以此可以实现在已知换挡摇臂大概位置情况下,机械手快速移动到其附近为下一步对中任务执行做好准备。第三,根据换挡机械手功能要求,设计其控制系统软硬件实现方案。根据该方案选择并采购控制系统硬件,完成电气柜中各个电气原件间的接线工作。为实现控制系统功能,本文采用VB编程语言编写了控制系统软件。最后,在实际换挡试验过程中发现上述两旋转轴线对中过程完成后始终有较大的残余夹角。在分析原因后,本文利用支持向量机在小样本非线性问题中的优势,建立了对中误差模型并尝试补偿该误差。
[Abstract]:Manual transmission (MTT) still occupies a huge market share in the world automobile transmission market. As the last and most important link of transmission manufacturing, off-line detection is the last and most important part. With the rapid development of domestic automobile industry, it is a task to find the defect of assembly and manufacture of transmission and even to prevent the unqualified transmission from flowing into the market. The demand of transmission manufacturers for automatic downline detection equipment is increasing. However, as an important part of the off-line testing platform, the shift manipulator has been using foreign common joint manipulator. This not only restricts the cost control of the manufacturers. And it also limits the development of the bench function. This paper relies on the manual transmission downline test platform produced by Chongqing Science and Technology Company of Qingyan Lingchuang Measurement and Control Technology Co., Ltd. A special shift manipulator is developed to replace the six degree of freedom joint robot. Firstly, this paper introduces the research status of shift manipulator at home and abroad in detail. Combined with the actual working conditions and low cost requirements of the manual transmission shift on the downline detection platform, a four-degree-of-freedom Cartesian manipulator arm containing a rotating joint is designed. In order to eliminate the six degrees of freedom currently used as the shift manipulator, the arm of the manipulator with four degrees of freedom is designed. The additional torque of joint robot in measuring shift torque. This paper presents a method of rotating centerline between the two claw cylinder at the end of the automatic alignment manipulator and the shift rocker shaft of the transmission. According to this method, the end actuators of the manipulator are designed. According to the design scheme of the platform and the end actuators of the shift manipulator and the requirements of the shifting torque in the actual shift process of the manual transmission. The necessary mechanical parts and sensors were selected and purchased, and finally assembled to complete the manipulator. Secondly, according to the structure of the manipulator, D-H method was used to establish the linkage transformation matrix of the shift manipulator. Then the kinematics equation of the manipulator can be obtained. Because the shift manipulator needs to obtain the solution of each joint variable under the condition that the position and orientation of the terminal actuator is known. This paper continues to solve the inverse kinematics solution of the shift manipulator. The above kinematics forward and inverse solutions provide a method and basis for the realization of the motion control module and the automatic alignment module in the gear shift manipulator control system. In this way, the manipulator can move quickly to the vicinity of the shift rocker arm to prepare for the next task execution. Thirdly, according to the functional requirements of the shift manipulator. The hardware and software implementation scheme of the control system is designed. According to this scheme, the hardware of the control system is selected and purchased, and the wiring between the electrical components in the electric gas cabinet is completed. In order to realize the function of the control system. In this paper, the control system software is programmed with VB programming language. Finally, in the actual shift test process, it is found that there is always a large residual angle after the completion of the above two rotation axis alignment. In this paper, the support vector machine (SVM) is used to solve the nonlinear problem with small samples.
【学位授予单位】：重庆理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U468.22;TP241

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