被动柔性变刚度关节驱动系统研究

发布时间：2018-04-23 10:08

本文选题：被动柔性 + 变刚度关节　；参考：《中国矿业大学》2017年硕士论文

【摘要】：柔性变刚度关节能够独立于输出位置改变系统刚度,具有很强的环境适应能力,在建立安全的人机交互、提高能量效率和降低碰撞影响等方面拥有巨大的优势。被动柔性变刚度关节是具有物理可调刚度属性的柔性变刚度关节,通过改变关节内部变刚度弹性元件的结构属性来调节被动柔性变刚度关节的刚度特性,是机器人驱动技术的一个重要研究方向。本文致力于研究一种全新的安全、可控的被动柔性变刚度关节,进行刚度和位置的独立控制,实现对不同环境条件下执行机构精度和安全性需求差异的平衡。主要进行了以下研究:首先,提出了变刚度方案和构型方案并建立了系统力学模型;基于力学模型分析了被动柔性变刚度关节的变刚度特性;根据理论分析结果设计了关节物理样机,并对关键部件进行了有限单元校核。其次,建立了相互独立的刚度调节系统和位置控制系统架构;应用速度/位置双环PI控制器实现刚度系统的半闭环控制,应用粒子群优化算法对控制器参数进行调节,并进行了刚度阶跃跟踪仿真实验;建立了单连杆柔性变刚度关节驱动系统动力学模型,应用滑模方法实现了连杆位置的开环控制,应用鲁棒观测器对系统状态进行了有效观测,并进行了位置正弦跟踪仿真实验;设计了单连杆柔性变刚度关节系统的刚度-速度联动控制律,建立了连杆速度和关节刚度的联动调节机制。接着,结合柔性变刚度关节的控制特性配置了驱动系统硬件,设计了接口电路;结合驱动系统硬件设计了驱动系统上位机,并简要介绍了软件控制系统的各个功能模块。最后,搭建了柔性变刚度关节的实验测试平台,进行了柔性变刚度关节的特性分析实验,对实验数据进行了分析,实验验证了被动柔性变刚度关节的变刚度能力。
[Abstract]:Flexible variable stiffness joints can change the stiffness of the system independently of the output position and have a strong adaptability to the environment. It has great advantages in establishing safe man-machine interaction, improving energy efficiency and reducing the impact of collision. The passive flexible variable stiffness joint is a flexible variable stiffness joint with physical adjustable stiffness. The stiffness characteristics of the passive flexible variable stiffness joint are adjusted by changing the structural properties of the internal variable stiffness elastic element. It is an important research direction of robot driving technology. This paper is devoted to the study of a new kind of safety controllable passive flexible variable stiffness joint which can control the stiffness and position independently and realize the balance between the accuracy and safety requirement of the actuator under different environment. The main contributions are as follows: firstly, the variable stiffness scheme and configuration scheme are proposed and the system mechanics model is established, and the variable stiffness characteristics of the passive flexible variable stiffness joint are analyzed based on the mechanical model. According to the results of theoretical analysis, the joint physical prototype is designed, and the key components are checked with finite element. Secondly, the independent stiffness regulation system and position control system architecture are established, the speed / position double loop Pi controller is used to realize the semi-closed loop control of the stiffness system, and the particle swarm optimization algorithm is used to adjust the controller parameters. The dynamic model of single link flexible variable stiffness joint driving system is established, the open loop control of link position is realized by sliding mode method, and the system state is observed effectively by robust observer. The simulation experiment of position sinusoidal tracking is carried out, and the stiffness speed linkage control law of single link flexible variable stiffness joint system is designed, and the linkage control mechanism of link speed and joint stiffness is established. Then, combined with the control characteristics of flexible variable stiffness joint, the hardware of the drive system is configured, the interface circuit is designed, the upper computer of the drive system is designed with the hardware of the drive system, and the function modules of the software control system are introduced briefly. Finally, the experimental test platform of flexible variable stiffness joint is built, and the characteristic analysis experiment of flexible variable stiffness joint is carried out. The experimental data are analyzed, and the ability of passive flexible variable stiffness joint is verified by experiment.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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