基于主被动柔顺的机器人旋拧阀门作业研究

发布时间：2018-07-10 05:16

本文选题：机器人建模 + 旋拧阀门　；参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：随着核电技术的高速发展,核电救灾作业也越来越受到世界各国的密切关注。旋拧阀门作为核电站基本作业任务之一,也逐渐受到广泛关注。为保护救灾人员的安全,采用机器人执行旋拧阀门任务将是最佳方式之一。本文结合机器人旋拧阀门的实际作业问题,提出了一种新的融合柔顺机构和自适应阻抗控制的主被动柔顺策略,并对该策略进行了详细的分析和研究。本文分析了远程操作机器人旋拧作业的误差来源,并完成了对其的分类。建立了不同类型作业误差与机器人末端作业力/力矩的分析模型。建立了六自由度机器人的正运动学模型和雅克比矩阵,并分析了机器人末端作业力/力矩和机器人关节力矩间的映射关系。建立了机器人旋拧作业的仿真模型,通过仿真分析验证了上述计算分析的正确性。分析了机器人旋拧阀门作业的主要问题,采用被动柔顺机构解决旋拧侧向力/力矩问题,采用自适应阻抗控制解决阀门手轮轴向位置的跟踪问题。设计了一款基于虎克铰机构的被动柔顺末端执行器,并完成了对其柔顺能力的分析。完成了机器人旋拧阀门的轨迹规划设计,为后续研究奠定基础。在ADAMS中搭建了旋拧阀门仿真平台,并完成了相关的旋拧阀门仿真实验,证明了被动柔顺末端执行器的有效性。建立了机器人旋拧阀门的实验平台,完成了基于被动柔顺末端执行器的旋拧阀门实验。针对阀门手轮旋拧过程中产生的轴向位移问题,本文采用基于位置的阻抗控制对阀门手轮位置进行跟踪的方法,并分析了阻抗控制的恒力跟踪稳态误差,完成了阻抗控制系统性能的仿真分析。针对阻抗控制恒力跟踪效果的不足,本文进一步采用自适应阻抗控制,基于Lyapunov稳定理论设计了自适应控制律,并搭建了自适应阻抗控制系统,完成了控制系统的性能分析。建立了MATLAB/ADAMS联合仿真平台,完成了相关的联合仿真实验。基于已搭建的机器人旋拧阀门实验平台,完成了基于主被动柔顺的机器人旋拧阀门实验。
[Abstract]:With the rapid development of nuclear power technology, the disaster relief work of nuclear power has attracted more and more attention all over the world. As one of the basic operational tasks of nuclear power plant, rotary valve has been paid more and more attention. In order to protect the safety of disaster relief personnel, it will be one of the best ways to use robot to perform spin valve task. In this paper, a new active and passive compliance strategy combining compliant mechanism and adaptive impedance control is proposed, and the strategy is analyzed and studied in detail. In this paper, the error sources of spin operation of remote manipulating robot are analyzed, and the classification of them is completed. The analysis model of different types of error and end force / torque of robot is established. The forward kinematics model and Jacobian matrix of a six-degree-of-freedom robot are established, and the mapping relationship between the end working force / torque of the robot and the joint moment of the robot is analyzed. The simulation model of robot rotation operation is established, and the correctness of the above calculation and analysis is verified by simulation analysis. In this paper, the main problems of robot rotary valve operation are analyzed. The passive compliant mechanism is used to solve the lateral force / torque problem, and the adaptive impedance control is used to solve the problem of tracking the axial position of the valve handwheel. A passive compliance terminal actuator based on Hook hinge mechanism is designed, and its compliance ability is analyzed. The trajectory planning design of robot rotary valve is completed, which lays a foundation for further research. The simulation platform of rotary valve is built in Adams, and the simulation experiment of rotary valve is completed, which proves the effectiveness of passive compliance end actuator. The experimental platform of robot rotary valve is established, and the rotary valve experiment based on passive compliance end actuator is completed. Aiming at the axial displacement of the valve handwheel in the process of rotation, this paper adopts the impedance control based on position to track the position of the valve handwheel, and analyzes the steady-state error of constant force tracking of the impedance control. The performance of impedance control system is simulated and analyzed. Aiming at the deficiency of constant force tracking effect of impedance control, adaptive impedance control is further adopted in this paper. Based on Lyapunov stability theory, adaptive control law is designed, and adaptive impedance control system is built, and the performance analysis of the control system is completed. The MATLAB / Adams joint simulation platform is established, and the related joint simulation experiments are completed. Based on the established robot rotary valve experimental platform, the robot spin valve experiment based on active and passive compliance is completed.
【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】：TP242;TM623

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