气动肌肉灵巧手结构和控制系统的设计

发布时间：2018-05-29 17:01

本文选题：气动肌肉 + 灵巧手　；参考：《浙江理工大学》2017年硕士论文

【摘要】：气动肌肉作为一种新型的驱动器,具有柔顺性好、安全性高、重量/功率比大、环保等优点,所以它被应用于服务机器人、仿生医学领域。本文将气动肌肉作为驱动器,根据人手的特点,设计了一个多由度的灵巧手,并通过实验对所设计的灵巧手指的运动进行了验证,具有很好的理论研究和工程应用意义。本文的主要工作如下:(1)参照人手的结构和运动原理,根据结构设计方法设计了多自由度气动肌肉灵巧手。整个灵巧手的尺寸是人手尺寸的两倍,其结构包括:手指、手掌、腕关节。以手指为研究对象,对其进行了运动学正解分析,逆解分析,雅克比分析。根据运动学正解分析结果,手指各关节设计的转动范围:侧摆关节0~30°、近关节0~60°,中关节0~60°,远关节0~45°,利用MATLAB对手指指尖运动范围进行仿真,得到其运动范围在一个120*105*120 mm3空间内。(2)根据气动回路的工作原理及需要的硬件环境,设计了气动控制回路和硬件控制系统、对气动元件和硬件进行了选型,采用PID控制器对单关节的运动进行了响应信号的跟踪,对上位机界面进行了编辑设计。(3)根据设计的气动回路和硬件控制系统,搭建了气动肌肉灵巧手指实验台,利用基于PC端的上位机界面和下位机,对手指关节进行了阶跃响应和正弦响应实验,得到了关节的运动角度,即手指侧摆关节运动的角度约为30度,近关节约为为59.55度,中关节约为60度,远关节约为44度,验证了灵巧手指结构设计的合理性。
[Abstract]:As a new type of driver, pneumatic muscle has the advantages of good flexibility, high safety, large weight / power ratio, and environmental protection. So it is applied to the service robot and bionic medicine. This paper designs a multi degree dexterous hand based on the characteristics of the human hand, and the dexterity designed by the experiment. The movement of the finger is verified, and it is of great theoretical and engineering significance. The main work of this paper is as follows: (1) according to the structure and movement principle of the human hand, the multi freedom pneumatic muscle dexterous hand is designed according to the structure design method. The size of the whole dexterous hand is two times the size of the human hand, and its structure includes the fingers, palms and wrists. The kinematics positive solution analysis, inverse solution analysis and Jacobian analysis were carried out with the finger as the research object. According to the results of positive kinematics analysis, the rotation range of the joint design of the finger: the lateral pendulum joint 0~30 degree, the proximal joint 0~60 degree, the middle joint 0~60 degree, the distal joint 0~45 degree, and the simulation of the finger fingertip motion range by MATLAB. The motion range is in a 120*105*120 mm3 space. (2) according to the working principle of the pneumatic circuit and the required hardware environment, the pneumatic control loop and the hardware control system are designed. The pneumatic components and hardware are selected. The PID controller is used to track the motion of the single joint, and the interface of the upper computer is edited. Design. (3) according to the designed pneumatic circuit and hardware control system, the pneumatic muscle dexterous finger experiment platform is set up. Using the upper computer interface and the lower computer based on the PC end, the step response and the sinusoidal response experiment of the finger joints are carried out. The motion angle of the joint is obtained, that is, the angle of the movement of the finger side pendulum joint is about 30 degrees, and the close off is saved. In order to save 59.55 degrees, save 60 and save 44 yuan, the rationality of dexterous finger structure design is verified.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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