模块化六自由度机械臂运动学研究及其连杆尺寸优化

发布时间：2018-05-20 00:39

本文选题：模块化机械臂 + 运动学　；参考：《安徽理工大学》2017年硕士论文

【摘要】：通过若干具有不同尺寸特征和一定程度装配关系的关节、连杆和末端执行器等模块构成,各个模块间用电气结构相连并且能组成不同工作空间和自由度数的机械臂结构被称作模块化可重构型机械臂。模块化机械臂相对于传统的工业机器人具有工作范围广、互换性强、成本低、已修改维护、便携等优点,因此其一直是机器人领域的热门研究之一。本论文的选题主要源于安徽高校自然科学研究重点项目"机器人双臂系统操作能力地图构建及拟人运动规划方法研究(项目编号KJ2016A200)"。该项目以机器人双臂系统为研究对象,绘制机械臂的操作能力地图,再结合人体双臂的运动规律,研究机器人双臂的拟人运动规划方法。本论文以该项目作为支撑,进而开展模块化机械臂运动学方面的研究,论文主要研究内容包括:机械臂的运动学建模与分析、机械臂的能力地图的绘制、机械臂的运动学参数标定和机械臂连杆尺寸优化等四个方面内容,论文主要工作如下:(1)构建模块化六自由度机械臂系统。简要介绍了课题组开发的服务机器人的机械结构框架和控制系统分布,着重阐述了模块化机械臂的设计要求和构成特点,进一步对机械臂关节模块的结构特点进行了分析并设计了各模块间的连接件结构,最终搭建了机械臂系统硬件平台。(2)模块化机械臂的运动学建模及分析。应用标准DH法来描述机械臂的结构参数,并推导机械臂的运动学方程;采用变量分离法和几何法相结合的方法来求解机械臂的逆运动学方程;应用矢量积法求解机械臂的雅克比矩阵,并在MATLAB软件环境下应用机器人工具箱搭建模块化机械臂虚拟仿真平台。(3)机械臂工作空间的求解及绘制机械臂末端参考点的操作能力地图。推导了机械臂末端参考点的工作空间数值表达式,并借助三维建模软件SolidWorks和MATLAB软件进一步求解机械臂的3D工作空间,并对机械臂末端参考点的工作空间进行位置和姿态离散,基于空间可达指标绘制机械臂在其工作空间内的操作能力地图。(4)机械臂的运动学参数标定。结合前文机械臂的运动学分析,建立其运动学标定的误差标定模型,并在MATLAB软件环境下编写误差标定模型的求解程序,并应用相对位置误差法对其进行运动学参数标定,提高了机械臂的绝对定位精度。(5)基于全局性能和局部性能指标的机械臂连杆尺寸优化分析。根据机械臂的结构特点分析其连杆尺寸的分布情况,基于机械臂的全局和局部灵活性能指标设计正交试验对机械臂的连杆尺寸进行优化分析,最终得到使得机械臂具有整体较优性能指标时的连杆尺寸。本论文中的相关研究将有助于后续的机械臂的拟人运动规划研究,并且对模块化机械臂的应用领域有着积极地学术意义和重要的实际意义。
[Abstract]:Through a number of modules such as joints, connecting rods and end actuators with different dimensions and a certain degree of assembly relationship, Modular reconfigurable manipulators are called modular reconfigurable manipulators, which are connected by electrical structures and can form different workspaces and free degrees. Compared with traditional industrial robots, modular manipulators have the advantages of wide range of work, strong interchangeability, low cost, modified maintenance, portable and so on, so it has been one of the hot research fields in robot field. The topic of this thesis is mainly derived from the key project of natural science research in Anhui University, "study on map construction and humanoid motion planning method of robot dual-arm system operation ability" (Project No. KJ2016A200). This project takes the dual-arm system of the robot as the research object, draws the map of the manipulative ability of the robot arm, and studies the humanoid motion planning method of the robot's arms combined with the movement law of the human arms. This thesis is supported by this project, and then studies the kinematics of modular manipulator. The main contents of this paper include: kinematics modeling and analysis of the manipulator, the mapping of the robot arm's ability. The kinematics parameter calibration of the manipulator and the dimension optimization of the connecting rod of the manipulator are discussed in this paper. The main work of this paper is as follows: 1) constructing a modular six-degree-of-freedom manipulator system. This paper briefly introduces the mechanical structure framework and control system distribution of the service robot developed by the research group, and emphatically expounds the design requirements and structural characteristics of the modular manipulator. Furthermore, the structural characteristics of the joint module of the manipulator are analyzed, and the connectors between the modules are designed. Finally, the kinematics modeling and analysis of the modular manipulator is built on the hardware platform of the manipulator system. The standard DH method is used to describe the structural parameters of the manipulator, and the kinematics equation of the manipulator is derived, and the inverse kinematics equation of the manipulator is solved by the combination of variable separation method and geometric method. The Jacobian matrix of the manipulator is solved by the vector product method. In the environment of MATLAB, the robot toolbox is used to set up the virtual simulation platform of the modular manipulator. The workspace of the manipulator is solved and the map of the operation ability of the reference point at the end of the manipulator is drawn. The numerical expression of the workspace of the reference point at the end of the manipulator is derived, and the 3D workspace of the manipulator is further solved with the help of 3D modeling software SolidWorks and MATLAB, and the position and attitude of the workspace of the reference point at the end of the manipulator are discretized. Based on the spatial reachability index, the kinematics parameter calibration of the manipulator in its workspace is drawn. Combined with the kinematics analysis of the previous manipulator, the error calibration model of the kinematics calibration is established, and the solution program of the error calibration model is compiled under the environment of MATLAB, and the kinematics parameters are calibrated by the relative position error method. The absolute positioning accuracy of the manipulator is improved. (5) based on the global performance and the local performance index, the dimension optimization analysis of the mechanical arm connecting rod is proposed. According to the structural characteristics of the manipulator, the size distribution of the connecting rod is analyzed. Based on the global and local flexible performance index of the manipulator, the orthogonal test is designed to optimize the dimension of the connecting rod of the manipulator. Finally, the connecting rod size is obtained when the mechanical arm has the overall optimal performance index. The related research in this paper will be helpful to the subsequent research on humanoid motion planning of robot arm, and has positive academic significance and important practical significance to the application field of modular manipulator.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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