六自由度机械臂模块化设计与运动控制的研究

发布时间：2018-05-15 02:00

本文选题：机械臂 + 模块化结构　；参考：《安徽工业大学》2017年硕士论文

【摘要】：机械臂在航天、医疗以及制造业中有着越来越广泛的应用,其代替人类执行上述领域中的任务有着重要的意义,促进了这些领域的发展。在此背景下,本文设计研究了一种六自由度模块化机械臂,从结构设计和运动控制方面展开研究,主要内容如下:首先针对操作空间、定位精度和负载等技术要求,同时满足逆运动学有封闭解的条件,确定了机械臂的构型,在总体方案设计的基础上,基于模块化设计思想设计了关节结构,然后进行了主要零部件的选型,最终完成了三维模型设计,并通过样机制备验证了结构设计的合理性。针对本文机械臂的构型,通过D-H法对正逆解进行了分析,基于矩阵逆乘的思路提出此类机械臂逆解的一般方法,得到了八组解析解,并给出了机械臂奇异位置的逆解处理方法,最后运用机器人工具箱验证正逆解的正确性,为后续的轨迹规划奠定了基础。针对六自由度机械臂关节空间和笛卡尔空间的轨迹规划问题,本文采用一种梯形运动规律,提出了点到点以及连续路径的轨迹规划方法,规划结果显示各关节角度变化曲线连续、平滑,保证了运动的平稳性。最后根据六自由度机械臂的运动控制要求,采用工控机+运动控制卡的控制系统结构搭建了系统硬件平台,并设计了主要硬件的连接接口,从硬件层面保证系统的稳定性和较高的控制精度。在分析系统基本控制功能的基础上,先进行软件整体框架的设计,然后分人机交互界面、运动控制功能和控制卡驱动三部分进行软件开发,保证了软件功能的整体完备性,并且便于软件后期的升级和维护。
[Abstract]:The robot arm is more and more widely used in aerospace, medical and manufacturing industries. It is of great significance to replace human beings in carrying out the tasks in these fields, and has promoted the development of these fields. In this context, a 6-DOF modular manipulator is designed and studied from the aspects of structure design and motion control. The main contents are as follows: firstly, aiming at the technical requirements of operation space, positioning accuracy and load, etc. At the same time, according to the condition of inverse kinematics with closed solution, the configuration of the manipulator is determined. On the basis of the overall scheme design, the joint structure is designed based on the modular design idea, and then the selection of the main parts is carried out. Finally, the 3D model design is completed, and the rationality of the structure design is verified by the prototype preparation. According to the configuration of the manipulator in this paper, the forward and inverse solutions are analyzed by D-H method. Based on the idea of matrix inverse multiplication, the general method of inverse solution of this kind of manipulator is proposed, and eight sets of analytical solutions are obtained, and the inverse solution method of the singular position of the manipulator is given. Finally, the robot toolbox is used to verify the correctness of the forward and inverse solutions, which lays a foundation for the subsequent trajectory planning. Aiming at the trajectory planning problem of joint space and Cartesian space of 6-DOF mechanical arm, a trapezoidal motion law is adopted in this paper, and a trajectory planning method of point-to-point and continuous path is proposed. The planning results show that the angle curve of each joint is continuous and smooth, which ensures the stability of motion. Finally, according to the motion control requirements of the six-degree-of-freedom manipulator, the system hardware platform is built using the control system structure of the IPC motion control card, and the connection interface of the main hardware is designed. The stability and control accuracy of the system are guaranteed from the hardware level. On the basis of analyzing the basic control function of the system, the design of the whole software frame is carried out first, and then the software is developed in three parts: the man-machine interface, the motion control function and the control card driver, which ensures the overall completeness of the software function. And easy to upgrade and maintain the software later.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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