气动仿人机械手的运动学与控制策略研究
发布时间：2018-10-14 13:20
【摘要】：近年来,随着机器人学科的发展,作为机器人末端执行器的仿人机械手引起了很多科研机构和产业界的重视,由于工作任务的复杂性和工作环境的未知性,使得仿人机械手在设计层面拥有较高的要求,因此要设计出形状小巧、灵活作业的仿人机械手并不容易。目前现有仿人机械手要么因大量的零部件导致结构复杂,要么为了节省空间使得传动方式不够完善。因为方案上的妥协和让步,目前这些仿人机械手在外观和功能上都不尽如人意。本课题旨在设计一个气动仿人机械手平台,手指的设计和控制是整个平台的关键部分,通过仿真分析与实物验证对其进行运动学与控制策略的研究。首先,根据仿生学原理,通过对人手的结构与功能进行深入研究与分析,提出了气动仿人机械手的技术方案,其中手指、手掌结构设计以及手指关节的传动设计基于等角度圆规动作原理,每个手指都具有全驱动特性,运用Solidworks设计软件完成了结构图的绘制;驱动设计采用单作用弹簧压回气缸驱动,通过气压和气缸弹簧的相互作用控制气缸行程,从而控制手指弯曲程度;控制设计方面搭建了基于PLC控制的由电气比例阀构成的气动回路电气控制系统。其次,通过手指的正逆运动学理论分析,并运用MATLAB进行手指各指节的运行轨迹仿真;通过研究人手各种手势形态,运用ADAMS对机械手手指进行运动学仿真得出各关节的位置、速度、加速度等参数;使用Simulation对手指的材料的刚度特性进行有限元应力仿真和尺寸优化。最后,通过PLC编写相关程序就能够实现机械手常用的手势,在主从控制模式下,使用基于弯曲传感器的数据手套可以实现气动仿人机械手与操作者手的同步运动,验证了机械手结构尺寸的合理性、运动的可行性,为仿人机械手的研发提供了一套可行的理论分析与设计方法。
[Abstract]:In recent years, with the development of robotics, humanoid manipulators, which are the end actuators of robots, have attracted the attention of many scientific research institutions and industry, because of the complexity of work tasks and the unknown working environment. Therefore, it is not easy to design humanoid manipulator with small shape and flexible operation. At present, the existing humanoid manipulator is either complicated by a large number of parts, or it is not perfect in order to save space. Due to compromise and compromise, these humanoid manipulators are not satisfactory in appearance and function. The purpose of this paper is to design a pneumatic humanoid manipulator platform. The design and control of finger is the key part of the platform. The kinematics and control strategy of the platform are studied by simulation analysis and physical verification. First of all, according to the principle of bionics, through the in-depth study and analysis of the structure and function of the human hand, the technical scheme of the pneumatic humanoid manipulator is put forward, in which the finger, The design of palm structure and the transmission design of finger joint are based on the principle of equal angle compasses. Each finger has full driving characteristic. The structure diagram is drawn by using Solidworks software, and the driving design is driven by single acting spring pressing back cylinder. The stroke of cylinder is controlled by the interaction of air pressure and cylinder spring, and the degree of finger bending is controlled. In the aspect of control design, an electric control system of pneumatic circuit composed of electric proportional valve is built based on PLC control. Secondly, through the theoretical analysis of the forward and inverse kinematics of the fingers and the use of MATLAB to simulate the running track of the finger joints, the kinematic simulation of the fingers of the manipulator is carried out by using the ADAMS to get the position of the joints by studying the various gestures of the hands, and by using the ADAMS to simulate the kinematics of the fingers of the manipulator. Simulation is used to simulate the stiffness characteristics of finger material by finite element stress simulation and dimension optimization. Finally, the common gesture of manipulator can be realized by PLC. In master-slave control mode, the synchronous movement of pneumatic humanoid manipulator and operator can be realized by using data gloves based on bending sensor. The rationality of structure dimension and the feasibility of motion of manipulator are verified, and a set of feasible theoretical analysis and design method are provided for the research and development of humanoid manipulator.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
本文编号：2270582
[Abstract]:In recent years, with the development of robotics, humanoid manipulators, which are the end actuators of robots, have attracted the attention of many scientific research institutions and industry, because of the complexity of work tasks and the unknown working environment. Therefore, it is not easy to design humanoid manipulator with small shape and flexible operation. At present, the existing humanoid manipulator is either complicated by a large number of parts, or it is not perfect in order to save space. Due to compromise and compromise, these humanoid manipulators are not satisfactory in appearance and function. The purpose of this paper is to design a pneumatic humanoid manipulator platform. The design and control of finger is the key part of the platform. The kinematics and control strategy of the platform are studied by simulation analysis and physical verification. First of all, according to the principle of bionics, through the in-depth study and analysis of the structure and function of the human hand, the technical scheme of the pneumatic humanoid manipulator is put forward, in which the finger, The design of palm structure and the transmission design of finger joint are based on the principle of equal angle compasses. Each finger has full driving characteristic. The structure diagram is drawn by using Solidworks software, and the driving design is driven by single acting spring pressing back cylinder. The stroke of cylinder is controlled by the interaction of air pressure and cylinder spring, and the degree of finger bending is controlled. In the aspect of control design, an electric control system of pneumatic circuit composed of electric proportional valve is built based on PLC control. Secondly, through the theoretical analysis of the forward and inverse kinematics of the fingers and the use of MATLAB to simulate the running track of the finger joints, the kinematic simulation of the fingers of the manipulator is carried out by using the ADAMS to get the position of the joints by studying the various gestures of the hands, and by using the ADAMS to simulate the kinematics of the fingers of the manipulator. Simulation is used to simulate the stiffness characteristics of finger material by finite element stress simulation and dimension optimization. Finally, the common gesture of manipulator can be realized by PLC. In master-slave control mode, the synchronous movement of pneumatic humanoid manipulator and operator can be realized by using data gloves based on bending sensor. The rationality of structure dimension and the feasibility of motion of manipulator are verified, and a set of feasible theoretical analysis and design method are provided for the research and development of humanoid manipulator.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
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