轻型机械臂结构及控制系统的设计研究

发布时间：2018-03-04 03:12

本文选题：轻型机械臂　切入点：模块化关节　出处：《中国科学技术大学》2017年硕士论文　论文类型：学位论文

【摘要】：传统的工业机器人本体笨重,负载自重比低,主要面向工业制造开发,无法满足事故救援、空间探测、家庭服务、医疗辅助和核设施维护等应用场合,而轻型机械臂有着结构紧凑、负载自重比高、安装维护方便和操作简单等优点,能够很好的满足市场需求,是下一代机器人的重点研究方向之一。本文开展了对轻型机械臂结构设计和控制系统设计的研究。首先,通过对目前轻型机械臂结构设计方法和控制系统方案进行总结,为后面的设计打下基础。其次,确定机械臂的设计指标,以此为方向,提出模块化关节的设计方案,将驱动器,驱动器控制器,传动机构、传感器等集成在一个关节内,在此基础之上,完成对关节驱动器、驱动器控制器和传动系统进行了选型,并采用电磁铁和挡圈的方案实现了断电制动器。采用分布式结构的控制方案,将关节控制器与主控制器分离,在电气系统上提高了关节的模块化水平。采用常见的D-H参数对机械臂进行数学建模,推导机械臂的正逆解公式,并利用MATLAB工具采用统计模拟方法对机械臂的可达空间进行模拟。最后,搭建了单关节测试平台,对单关节位置精度和负载能力进行验证,并利用三坐标测量仪对机械臂整机未带负载的重复定位精度进行了测试,测试结果表明机械臂样机重复定位精度较高,达到设计要求。因此,采用模块化关节和分布式控制系统的设计方案,机械臂开发迅速且性能较好。
[Abstract]:Traditional industrial robots are bulky with low load-to-weight ratio. They are mainly oriented to industrial manufacturing and development. They are unable to meet the needs of accident rescue, space detection, home service, medical assistance and nuclear facilities maintenance and so on. The light mechanical arm has the advantages of compact structure, high load to weight ratio, convenient installation and maintenance, simple operation, and so on, which can meet the market demand very well. It is one of the key research directions of the next generation robot. In this paper, the structure design and control system design of light manipulator are studied. Firstly, the structure design method and control system scheme of light manipulator are summarized. Secondly, the design index of the manipulator is determined, and in this direction, the modular joint design scheme is put forward, which integrates the driver, driver controller, transmission mechanism, sensor and so on into one joint. On this basis, the selection of joint driver, driver controller and transmission system is completed, and the scheme of electromagnet and ring is adopted to realize the power off brake, and the control scheme of distributed structure is adopted. The joint controller is separated from the main controller and the modularization level of the joint is improved in the electrical system. The common D-H parameters are used to model the manipulator, and the formula of the forward and inverse solutions of the manipulator is deduced. Finally, a single joint testing platform is built to verify the position accuracy and load capacity of single joint. The precision of repeated positioning without load is tested by using the coordinate measuring instrument. The test results show that the precision of repetitive positioning of the prototype of the manipulator is high, which meets the design requirements. With the design of modular joint and distributed control system, the manipulator is developed quickly and has good performance.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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