面向机器人腕关节的杆式多自由度超声电机关键问题研究

发布时间：2018-01-17 03:34

本文关键词：面向机器人腕关节的杆式多自由度超声电机关键问题研究　出处：《郑州大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着科学技术的进步,航天、医疗已成为机器人应用的重要技术领域,其非常规和极端环境的特点对机器人提出了更高的要求,诸如轻、小、低噪声、无电磁干扰等。腕关节作为机器人的基础部件之一,探索其结构简单、运转稳定的结构形式对机器人的微型化、轻量化以及进一步拓展机器人的应用水平有着重要的意义。杆式多自由度超声电机作为超声电机的一种,其全新的原理、简单的结构形式以及三自由度驱动特点,使其在构建结构简单、紧凑小巧的机器人腕关节方面有着无可比拟的优势。本文通过有限元分析仿真与实验相结合的手段,对基于杆式多自由度超声电机构建机器人腕关节的关键问题展开了研究,本文研究内容如下:1)根据杆式多自由度超声电机工作机理,利用ANSYS有限元分析软件,基于传统的连续体有限元建模方法,实现了对电机定子的动态特性设计,并基于相关的结构设计参数加工制作了原理样机。通过实验研究发现,基于连续体的有限元建模分析方法在杆式超声电机结构动力学设计中存在着严重的不足。2)针对杆式超声电机设计中采用连续体有限元模型而导致计算精度不足的问题,提出了在螺栓预紧力条件下的杆式多自由度超声电机振子的建模方法;并分析了螺栓预紧力和联接面摩擦系数对定子模态频率的影响。3)基于杆式多自由度超声电机构建机器人腕关节结构,研究了确保电机球形转子在关节结构中三自由度运动的结构形式设计以及定转子之间的预压力加载等关键技术;确定了转向环转轴与球形转子转轴垂直交叉布置的设计,实现了关节三自由度的运动及电机定、转子之间的预压力加载、可调;根据原理样机的尺寸参数,加工制作了腕关节结构。
[Abstract]:With the development of science and technology, spaceflight and medical treatment have become an important technology field of robot application. The characteristics of its unconventional and extreme environment put forward higher requirements for robot, such as light, small, low noise. As one of the basic components of the robot, the wrist joint explores the miniaturization of the robot in the form of simple structure and stable operation. As a new principle of ultrasonic motor, the rod type multi-freedom ultrasonic motor is a kind of ultrasonic motor. Simple structure form and three degree of freedom drive feature make it simple in construction structure. Compact and compact robot wrist has an unparalleled advantage. This paper combines finite element analysis simulation and experiment. In this paper, the key problems of the robot wrist joint construction based on multi-degree-of-freedom ultrasonic motor are studied. The research contents are as follows: 1) according to the working mechanism of multi-degree-of-freedom ultrasonic motor. Based on the traditional continuum finite element modeling method, the dynamic characteristic design of motor stator is realized by using ANSYS finite element analysis software. And based on the relevant structural design parameters, the principle prototype is made. The finite element modeling and analysis method based on continuum has serious deficiency in structural dynamics design of rod ultrasonic motor. In order to solve the problem that the finite element model of continuous body is used in the design of rod ultrasonic motor, the calculation accuracy is insufficient. In this paper, a method for modeling the vibration of multi-degree-of-freedom ultrasonic motor with bolt pretension is presented. The influence of bolt pretension force and friction coefficient on stator modal frequency is analyzed. 3) the wrist joint structure of robot is constructed based on multi-degree-of-freedom ultrasonic motor. The key techniques such as the structural design of the three-degree-of-freedom motion of the spherical rotor in the joint structure and the pre-loading between the stator and rotor are studied. The design of vertical cross arrangement between the steering ring shaft and the spherical rotor shaft is determined. The motion of the joint with three degrees of freedom and the preload between the motor and rotor are adjustable. According to the dimension parameters of the prototype, the wrist joint structure was fabricated.
【学位授予单位】：郑州大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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