基于视觉的高精度重载气动助力实验系统研制

发布时间：2018-03-19 23:17

本文选题：气动助力　切入点：伺服电机　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：制造业是国民经济主体,是立国之器、强国之基。随着“中国制造2025”的加快部署,制造业产业结构正在发生转变,工业机器人在搬运、喷涂、焊接、包装自动化生产线业已应用广泛。在搬运机器人领域,特别是重载应用领域,由于控制策略和机械结构设计缺陷,往往精度不高。为了丰富搬运机器人研究,提高搬运安装精度,本课题考虑到气动系统具有出力大、气源洁净易获取、防燃防爆的优点,在主要承载关节添加气动助力平衡负载,同时用交流伺服电机保持较高位置控制精度,并安装视觉、激光测距传感器辅助搬运进一步提高安装精度和作业自动化水平。本文从气动助力实验系统的结构设计开始研究工作,结合项目设计指标要求,完成实验系统6个基本自由度加3个微调自由度的机构设计与校核,并完成电控系统的选型工作。同时建立实验系统连杆坐标系并以此为基础进行运动学、动力学仿真,验证前期设计合理性,完成硬件层面的设计工作并为后续仿真与实验研究做基础铺垫工作。针对视觉传感器和激光测距传感器的加入设计安装工序,保证末端执行器对于工件位姿的控制能够对两种传感器获取的信息高效合理利用;研究激光测距传感器定位配置方法并着重对机器视觉领域相关理论进行研究,确定传感器型号与配置方式,简化CCD图像传感器成像模型以对其进行视觉系统标定,把利用机器视觉传感器和激光测距传感器获取的测量信息进行末端参考点定位归结到运动学层面进行理论推导得到相应的用于实际控制的位姿变换矩阵,赋予助力设备初步获得感知外界环境的能力。充分研究设备工作原理,根据关键部件数学模型和Pro/E三维虚拟模型,借助Matlab/Simulink和ADAMS分别搭建助力实验设备仿真模型,首先利用ADAMS运动模型对实验系统进行运动学、动力学仿真,并根据实际工况抽象出三条典型轨迹进行规划,得到各关节转角变化规律,比较分析结果研究不同轨迹不同安装角度姿态情况下助力设备的跟踪性能;设置软件接口进行Similink/ADAMS联合仿真,以上述轨迹规划结果为参照对变压力重力补偿控制器和交流伺服电机定位控制策略的实用性能进行虚拟样机联合仿真验证。最后搭建气动助力实验台进行调试,对前面的理论研究工作做实践研究。介绍了实验台工作原理,并针对末端轨迹跟踪效果和微调进给性能进行实验验证。实验结果表面,本课题设计的气动助力实验系统满足项目设计指标要求。
[Abstract]:The manufacturing industry is the main body of the national economy, the weapon that founded the country and the foundation of the powerful country. With the accelerated deployment of "made in China 2025", the industrial structure of the manufacturing industry is changing, and industrial robots are moving, spraying and welding. Packaging automation production line has been widely used. In the field of handling robot, especially in the field of heavy-duty application, because of the control strategy and mechanical structure design defects, the precision is often not high. In order to improve the accuracy of handling and installation, this subject considers that pneumatic system has the advantages of large force, clean and easy to obtain, and anti-combustion and explosion-proof, adding pneumatic aid to balance load in the main bearing joints. At the same time, using AC servo motor to maintain high position control accuracy, and install vision, Laser ranging sensor assisted handling can further improve the installation accuracy and automation level. This paper starts with the structure design of the pneumatic power experimental system and combines with the project design requirements. The mechanism design and verification of 6 basic degrees of freedom and 3 fine tuning degrees of freedom of the experimental system are completed, and the selection of the electronic control system is completed. At the same time, the coordinate system of the experimental system is established and the kinematics and dynamics simulation is carried out on the basis of the coordinate system. Verify the rationality of the previous design, complete the hardware level of the design and do the foundation for the subsequent simulation and experimental research. For the visual sensor and laser ranging sensor design and installation process, To ensure that the end effector can control the position and orientation of the workpiece, the information obtained by the two sensors can be used efficiently and reasonably; the location and configuration method of the laser ranging sensor is studied and the related theories in the field of machine vision are studied emphatically. Determine the sensor type and configuration, simplify the imaging model of CCD image sensor to carry out visual system calibration, The terminal reference point location obtained by the machine vision sensor and the laser ranging sensor is reduced to kinematics and the corresponding position and pose transformation matrix for practical control is obtained. This paper gives the booster equipment the ability to perceive the external environment preliminarily. Based on the mathematical model of key components and the three-dimensional virtual model of Pro/E, the simulation model of the booster experimental equipment is built by means of Matlab/Simulink and ADAMS, according to the mathematical model of the key component and the three-dimensional virtual model of Pro/E. Firstly, the kinematics and dynamics of the experimental system are simulated by using the ADAMS motion model, and three typical trajectories are abstracted according to the actual working conditions, and the changing law of the angle of each joint is obtained. The results of comparative analysis are used to study the tracking performance of the booster equipment with different trajectory and different installation angle and attitude, and the software interface is set up for Similink/ADAMS joint simulation. According to the above trajectory planning results, the practical performance of the variable pressure gravity compensation controller and the AC servo motor positioning control strategy is verified by virtual prototype simulation. Finally, a pneumatic aid experiment bench is built for debugging. The working principle of the experimental bench is introduced, and the tracking effect of the end trajectory and the performance of fine tuning feed are verified experimentally. The pneumatic booster experimental system designed in this paper meets the requirements of the project design index.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH138;TP242.2

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