三自由度关节式机械臂的结构设计与轨迹控制研究

发布时间：2018-04-07 00:15

本文选题：机械臂　切入点：机械结构设计　出处：《湖北工业大学》2017年硕士论文

【摘要】：随着科学技术的进步,机械手越来越多的应用到工业生产中,发挥着越来越重要的作用。智能机器人技术的不断发展和其在生产生活中的广泛应用,不断地改善人民的日常生活,同时推动了社会生产力的提高并不断推动着社会生产的进步。开展机械手的相关研究具有重要的理论和现实意义。本文以三自由度关节式机械臂为研究对象,对其机械部分、运动学和控制部分进行设计和分析,主要做了如下工作:(1)设计了三自由度关节式机械臂的机械结构,主要包括传动方案的设计和主要零部件的校核。采用连杆机构实现大臂小臂的伸缩俯仰动作,采用双平行四边形机构保证末端执行器的水平,以及大臂与小臂的运动独立性。大臂小臂采用步进电机加减速器驱动连杆,机身直接与电机连接,实现旋转运动。利用有限元对机械臂的主要机械部件进行了受力分析和校核。(2)在笛卡尔坐标系下采用D-H参数法对每个连杆建立坐标系,根据两个相邻坐标系之间相对位置,采用姿态的齐次坐标变换对机械臂的运动轨迹进行描述,并建立了机械臂运行状态的运动学方程,进一步建立了机械臂的运动学模型,分析正运动学和逆运动学,求解机械手的雅可比矩阵。介绍了逆解的两种方法,代数法和几何法,重点讨论了基于三自由度三自由度关节式机械臂的几何解法和算法。(3)详细分析了机械臂的轨迹规划。根据通过齐次坐标变换建立的机械臂运动学方程和动力学模型,对机械臂的关节空间及笛卡尔空间中机器臂运动方式和运动轨迹进行研究,探讨了机械臂在空间中的逐点比较法直线插补,最后通过实验验证了基于插补轨迹控制算法的正确性。
[Abstract]:With the development of science and technology, more and more manipulators are used in industrial production, playing an increasingly important role.The continuous development of intelligent robot technology and its wide application in production and life constantly improve the daily life of the people, at the same time, promote the improvement of social productivity and the progress of social production.The research of manipulator has important theoretical and practical significance.In this paper, the mechanical part, kinematics and control part of the three-degree-of-freedom joint manipulator are designed and analyzed. The main work is as follows: 1) the mechanical structure of the three-degree-of-freedom joint manipulator is designed.It mainly includes the design of transmission scheme and the checking of main parts.The linkage mechanism is used to realize the telescopic pitching of the upper arm of the arm and the dual parallelogram mechanism is used to ensure the level of the end actuator and the kinematic independence of the arm and the forearm.The upper arm uses stepper motor and reducer to drive the connecting rod, and the fuselage is connected directly with the motor to realize rotational motion.The mechanical components of the manipulator are analyzed and checked by finite element method. In the Cartesian coordinate system, the D-H parameter method is used to establish the coordinate system for each connecting rod. According to the relative position between the two adjacent coordinate systems,The motion trajectory of the manipulator is described by the homogeneous coordinate transformation of the attitude, the kinematics equation of the manipulator is established, the kinematics model of the manipulator is further established, and the forward kinematics and inverse kinematics are analyzed.Solve Jacobian matrix of manipulator.In this paper, two methods of inverse solution, algebraic method and geometric method, are introduced, and the trajectory planning of the manipulator is analyzed in detail based on the geometric solution and algorithm of three-degree-of-freedom three-degree-of-freedom joint manipulator.According to the kinematics equation and dynamic model of manipulator established by homogeneous coordinate transformation, the motion mode and trajectory of robot arm in joint space and Cartesian space are studied.The linear interpolation of robot arm in space by point by point comparison method is discussed. Finally, the correctness of trajectory control algorithm based on interpolation is verified by experiments.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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