服务机器人机械臂及控制系统研究

发布时间：2019-02-11 09:55

【摘要】：针对目前我国服务机器人机械臂结构复杂、质量过沉、电机使用效率低,不能满足服务机器人机械臂轻量化、灵巧化要求。本文从服务机器人机械臂轻量化、灵巧化出发,提出了推拉软轴连杆机构传动方式,完成了服务机器人本体设计。基于该机械臂运动特点开发了运动控制器和运动控制软件。在机械结构设计方面,采用推拉软轴连杆机构传动方式,将服务机器人各关节转动电机安装在底盘上,在此基础上完成了服务机器人三维模型设计与样机制作。重点进行了服务机器人机械臂的设计,利用动力学仿真软件验证了该机械臂传动方案的可行性,对比了在相同驱动电机的条件下,推拉软轴连杆机构传动方式较传统传动方式实现了负载能力的大幅提升。实现了力矩空间无障碍高效传输,简化结构,降低开发成本。在运动控制器设计方面,根据机械臂运动特点,控制器设计采用主从管理架构,极大程度提高了控制器多任务并行运行效率。为解决传统步进电机驱动与控制分开造成的控制器体积大、成本高问题,重点进行了步进电机一体化运动控制模块的设计。为满足服务机器人后续控制要求,设计了控制器扩展模块。在软件控制程序设计方面,根据机械臂与运动控制器的应用特点,完成了μC/OS-III操作系统在主从MCU上的移植与控制器各模块功能测试。经过基本测试,所设计的服务机器人机械臂及控制系统的各个关键技术运行正常,并能实现相应的功能,结果证明了整体设计方案是正确可行的,为服务机器人机械臂的后续发展提供了较好的支撑。
[Abstract]:At present, the structure of service robot manipulator in our country is complex, the mass is oversunk, and the efficiency of motor is low, so it can not meet the requirements of lightweight and dexterity of service robot manipulator. In this paper, starting from the lightweight and dexterous manipulator of service robot, the transmission mode of push-pull flexible shaft linkage mechanism is put forward, and the design of service robot body is completed. Based on the motion characteristics of the manipulator, a motion controller and motion control software are developed. In the aspect of mechanical structure design, the driving mode of push-pull flexible shaft linkage mechanism is adopted, and the rotating motor of each joint of the service robot is mounted on the chassis. On this basis, the 3D model design and prototype manufacture of the service robot are completed. The design of the robot manipulator is emphasized, and the feasibility of the transmission scheme is verified by using the dynamic simulation software, and the conditions of the same driving motor are compared. Compared with the traditional transmission mode, the push-pull flexible shaft linkage mechanism achieves a large increase in load capacity. The torque space can be transmitted efficiently, simplify the structure and reduce the development cost. In the design of motion controller, according to the characteristics of manipulator motion, the controller is designed with master-slave management architecture, which greatly improves the efficiency of multi-task parallel operation of controller. In order to solve the problems of large volume and high cost caused by the separation of stepping motor drive and control, the design of step motor integrated motion control module is carried out. In order to meet the requirement of the service robot, the controller extension module is designed. In the aspect of software control program design, according to the application characteristics of manipulator and motion controller, the transplant of 渭 C/OS-III operating system on master-slave MCU and the function test of controller modules are completed. After the basic test, the key technologies of the robot manipulator and control system are running normally, and the corresponding functions can be realized. The results show that the overall design scheme is correct and feasible. It provides a good support for the development of robot manipulator.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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