仿人灵巧手的结构设计及其控制研究

发布时间：2018-10-30 14:14

【摘要】：机器人作为解决全球劳动力短缺问题的重要途径在生产和生活中得到了广泛的应用。随着人类对海洋、宇宙等未知空间探索的深入,纷繁的应用标准和复杂的工作条件对机器人提出了更高的要求,单一功能的机器人再也难以适应不断变化的工作要求,由此仿人机器人应运而生。近年来,仿人机器人的发展逐步成为机器人行业的焦点,而灵巧手作为仿人机器人系统的重要执行部件,其工作性能很大程度上直接影响了仿人机器人系统在复杂环境下执行各项任务的灵巧程度。自20世纪80年代起,国内外众多机构和高校便展开了灵巧手的研制工作并取得了一定成果。本研究在总结国内外多种灵巧手装置优缺点的基础上,针对北航BH-985灵巧手的设计缺陷,从灵巧手自由度分布、单指结构设计、指尖耦合传动机构、手掌结构拟人化分析、手腕结构设计等多方面提出了笔者自己的设计改进思路。本研究根据机器人多指灵巧手的抓取原理,对其手指构造、整体布局以及如何分配自由度等方面开展研究,并通过分析普通人手的特征,对仿人多指灵巧手从深层次上开展论证以及设计。本研究通过借助SolidWorks进一步搭建了多指灵巧手的三维模型,对灵巧手的五指结构进行设计与分析,创新设计了“S”型指尖耦合传动机构以及手掌凹陷仿人型外观,并将手腕自由度进行并联,让灵巧手的机械结构更具拟人性;运用MATLAB和ADMAS分析了灵巧手手指的运动空间范围以及最大力矩并进行了理论计算,同时还通过建模仿真来验证该灵巧手机械结构的正确性以及合理性。针对电路与控制部分,本研究在系统的主控芯片与降压芯片的选择、电机驱动选择、直流电机的控制及调速、转速测量、PID调节电机稳定性以及通讯方式等方面提出自己的解决方案,旨在提高系统处理速度,缩小灵巧手体积,提高运动稳定性并能无线操作。
[Abstract]:As an important way to solve the problem of global labor shortage, robots have been widely used in production and life. With the deep exploration of the ocean, the universe and other unknown space, the complex application standards and complex working conditions put forward higher requirements for the robot, and the single-function robot can no longer adapt to the changing requirements of the work. Thus the humanoid robot emerges as the times require. In recent years, the development of humanoid robot has gradually become the focus of robot industry, and dexterous hand is an important executive part of humanoid robot system. Its performance directly affects the dexterity of humanoid robot system to perform various tasks in complex environment. Since 1980's, many institutions and universities at home and abroad have developed dexterous hands and achieved certain results. On the basis of summarizing the advantages and disadvantages of various dexterous hand devices at home and abroad, aiming at the design defects of BH-985 dexterous hand in Beihang, this study analyzes the distribution of freedom of dexterous hand, the design of single finger structure, the coupling transmission mechanism of fingertips, and the simulation of palm structure. Wrist structure design and other aspects of the author's own design improvement ideas. According to the grasp principle of robot multi-fingered dexterous hand, the paper studies the finger structure, overall layout and how to allocate freedom, and analyzes the characteristics of ordinary hand. Human-like multi-fingered dexterous hand from the deep-level demonstration and design. In this study, the three-dimensional model of multi-finger dexterous hand was further built by SolidWorks, and the five-finger structure of dexterous hand was designed and analyzed, and the "S" finger tip coupling transmission mechanism and the humanoid appearance of palm sag were designed. And the wrist degree of freedom in parallel, so that the mechanical structure of the dexterous hand more pseudo human nature; MATLAB and ADMAS are used to analyze the range of motion space and the maximum torque of the dexterous hand finger, and the theoretical calculation is carried out. At the same time, the correctness and rationality of the mechanical structure of the dexterous hand are verified by modeling and simulation. Aiming at the circuit and control part, this paper studies the selection of the main control chip and the step-down chip, the selection of motor drive, the control and speed regulation of DC motor, and the measurement of rotational speed. In order to improve the processing speed, reduce the volume of dexterous hand, improve the stability of motion and wireless operation, PID adjusts the stability of the motor and the communication mode, and puts forward its own solution in order to improve the processing speed of the system, reduce the volume of dexterous hand.
【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】：TP242

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