具有大长径比柔性铰链的3-PPSR并联机器人系统研究
发布时间：2019-02-28 08:29
【摘要】：随着机器人技术的逐步完善,适于特殊作业的机器人种类也日益增多,其应用领域不断拓展到微电子制造、MEMS封装与组装、高精密机械加工与装配、生物芯片制备、大范围高速扫描检测装备等行业。随之而来的,各行业对机器人的性能指标提出了越来越高的要求,追求机器人的高定位精度、高重复精度、高分辨力,同时还要求其工作范围大、质量轻、能耗低等,从而对机器人结构的设计提出了更高的要求。在这样的前提之下,为满足人类向微小世界探寻的需要,作为机器人技术发展的一个重要分支,微操作机器人成为机器人学中十分活跃的研究领域。在广泛的分析了目前已有的柔性精密定位系统、并联精密定位系统的基础之上,针对目前大范围运动定位与高精度定位的应用实际需要,提出了柔性铰链的概念设计,并以此构建三支链大长径比柔性并联结构定位系统,为满足超高精度的定位需要,在并联支链中集成了压电陶瓷驱动,充分体现了驱动、结构、检测一体化的设计思想。在结构单元的设计方面,针对当前柔性铰链运动范围小等问题,在通用的球副和转动副柔性铰链的基础之上,提出了大长径比柔性铰链的概念设计;在柔性并联结构的设计方面,提出了在通用的并联结构系统中,采用大长径比柔性铰链代替传统运动副的设想,建立基于大长径比柔性铰链的并联结构系统。在大长径比柔性并联结构的运动学建模方面,利用材料力学的基本原理和小变形假设,推导了大长径比柔性铰链的数学模型,并给出了在全局坐标系下的显式表达;在此基础之上,通过刚度组集的方法建立了大长径比柔性铰链并联结构柔性支链的运动表达显式,通过联立运动位移协调方程和力约束协调方程,建立了并联结构的位置解模型。由于并联结构系统中的各部件,特别是柔性铰链结构在自身变形提供整体结构的运动输出的同时,还经历了大范围的刚体运动,导致大长径比柔性并联结构的位置解模型出现典型的几何非线性问题。鉴于此,本文首先推导了空间柔性结构的几何非线性的刚度递推模型,并利用牛顿-莱弗森方法对该模型进行了求解。由于几何非线性模型的迭代求解方式,导致该模型的实时性很差,不易移植至控制系统进行实时控制求解,因此选择BP神经网络方法,建立了三层六输入-六输出的位置解神经网络结构,从而在方便了实时控制编程的同时,还大大提高了系统的位置解的求解速度。由于柔性并联结构的位置解模型中不仅仅包括结构中的位置信息,还提供了结构中相关的力信息以及刚度信息,本文在上述位置解模型的基础之上,给出了该类系统的刚度模型,对这类系统的结构综合以及优化设计提供了有力的工具。在大长径比柔性并联结构的样机实验方面,建立了采用大长径比柔性铰链作为被动关节的3-PPSR并联机器人系统,该系统采用压电马达作为驱动器,精密光栅尺作为位置反馈元件,其可在立方厘米级的工作空间内实现微米级精度的运动。结合力跟踪模型的稳态误差,通过调整初始参考位置精确控制外部环境力。分析研究了分别在已知精确外部环境变量条件下,利用精确环境变量实现基于位置的外力跟踪控制和不确定外部环境变量条件下,利用自适应控制器控制力偏差实现的自适应力控制。基于大长径比柔性铰链的压电陶瓷马达驱动并联机器人系统,可以同时满足大工作空间和高精度的工程需要。
[Abstract]:With the development of the robot technology, the types of the robots suitable for special operation are also increasing, and the application fields of the robot are expanding to the industries of micro-electronic manufacturing, MEMS packaging and assembly, high precision mechanical processing and assembly, biochip preparation, large-range high-speed scanning and detection equipment and the like. With the development of the robot, the performance index of the robot is higher and higher, the high positioning precision, the high repetition precision and the high resolution of the robot are pursued, the working range of the robot is large, the quality is light, the energy consumption is low, So that the design of the robot structure is required to be higher. Under such a premise, as an important branch of the development of the robot technology, the micro-operating robot is a very active research field in robotics. Based on the extensive analysis of the existing flexible precision positioning system and parallel precision positioning system, the concept design of flexible hinge is put forward for the application of large-range motion positioning and high-precision positioning. In order to meet the positioning requirement of the ultra-high precision, the piezoelectric ceramic drive is integrated in the parallel branch chain, and the design idea of the drive, the structure and the detection integration is fully reflected. In the aspect of the design of the structural unit, the concept design of the flexible hinge with large aspect ratio is proposed on the basis of the universal ball pair and the rotating auxiliary flexible hinge based on the universal ball pair and the rotating auxiliary flexible hinge, and in the aspect of the design of the flexible parallel structure, In this paper, a parallel structure system based on large aspect ratio flexible hinge is established in a general parallel structure system, which is replaced by a large aspect ratio flexible hinge instead of a conventional motion pair. In the aspects of the kinematics modeling of the flexible parallel structure with large aspect ratio, the mathematical model of the flexible hinge with large aspect ratio is derived by using the basic principle and the small deformation assumption of the material mechanics, and the explicit expression under the global coordinate system is given; on this basis, In this paper, the dynamic expression of the flexible branch of the parallel structure of the flexible hinge with large length-diameter ratio is established by the method of the set of stiffness, and the position solution model of the parallel structure is established by the simultaneous motion displacement coordination equation and the force-constrained coordination equation. As each component in the parallel structure system, in particular the flexible hinge structure, provides the motion output of the whole structure in the self-deformation, a large-range rigid body motion is also experienced, leading to a typical geometric non-linear problem of the position solution model of the large-diameter ratio flexible parallel structure. In view of this, this paper first deduces the geometric non-linear stiffness recurrence model of the space flexible structure, and uses the Newton-Leverson method to solve the model. Due to the iterative solution of the geometric non-linear model, the real-time property of the model is poor, the control system is not easy to be transplanted to the control system for real-time control solving, the BP neural network method is selected, and the position solution neural network structure of the three-layer six-input-six output is established, So that the real-time control programming is convenient, and the solution speed of the position solution of the system is greatly improved. Because the position solution model of the flexible parallel structure is not only the position information in the structure, but also the related force information and the rigidity information in the structure, the stiffness model of the system is given on the basis of the above-mentioned position solution model, The comprehensive and optimized design of this kind of system provides a powerful tool. A 3-PPSR parallel robot system with a large aspect ratio flexible hinge as a passive joint is set up in the aspect of a prototype experiment of a large aspect ratio flexible parallel structure, a piezoelectric motor is used as a driver, and a precision grating ruler is used as a position feedback element, Which can achieve the motion of micron-level accuracy in a cubic centimeter of working space. The steady-state error of the binding force tracking model can accurately control the external environment force by adjusting the initial reference position. The self-adaptive stress control based on the position-based external force tracking control and the uncertainty of the external environment variable under the condition of known exact external environment variables is analyzed and the self-adaptive stress control is realized by using the control force deviation of the adaptive controller under the condition that the external environment variable is not determined. The invention relates to a piezoelectric ceramic motor driven parallel robot system based on a large aspect ratio flexible hinge, which can simultaneously meet the engineering requirements of large working space and high precision.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242
本文编号：2431658
[Abstract]:With the development of the robot technology, the types of the robots suitable for special operation are also increasing, and the application fields of the robot are expanding to the industries of micro-electronic manufacturing, MEMS packaging and assembly, high precision mechanical processing and assembly, biochip preparation, large-range high-speed scanning and detection equipment and the like. With the development of the robot, the performance index of the robot is higher and higher, the high positioning precision, the high repetition precision and the high resolution of the robot are pursued, the working range of the robot is large, the quality is light, the energy consumption is low, So that the design of the robot structure is required to be higher. Under such a premise, as an important branch of the development of the robot technology, the micro-operating robot is a very active research field in robotics. Based on the extensive analysis of the existing flexible precision positioning system and parallel precision positioning system, the concept design of flexible hinge is put forward for the application of large-range motion positioning and high-precision positioning. In order to meet the positioning requirement of the ultra-high precision, the piezoelectric ceramic drive is integrated in the parallel branch chain, and the design idea of the drive, the structure and the detection integration is fully reflected. In the aspect of the design of the structural unit, the concept design of the flexible hinge with large aspect ratio is proposed on the basis of the universal ball pair and the rotating auxiliary flexible hinge based on the universal ball pair and the rotating auxiliary flexible hinge, and in the aspect of the design of the flexible parallel structure, In this paper, a parallel structure system based on large aspect ratio flexible hinge is established in a general parallel structure system, which is replaced by a large aspect ratio flexible hinge instead of a conventional motion pair. In the aspects of the kinematics modeling of the flexible parallel structure with large aspect ratio, the mathematical model of the flexible hinge with large aspect ratio is derived by using the basic principle and the small deformation assumption of the material mechanics, and the explicit expression under the global coordinate system is given; on this basis, In this paper, the dynamic expression of the flexible branch of the parallel structure of the flexible hinge with large length-diameter ratio is established by the method of the set of stiffness, and the position solution model of the parallel structure is established by the simultaneous motion displacement coordination equation and the force-constrained coordination equation. As each component in the parallel structure system, in particular the flexible hinge structure, provides the motion output of the whole structure in the self-deformation, a large-range rigid body motion is also experienced, leading to a typical geometric non-linear problem of the position solution model of the large-diameter ratio flexible parallel structure. In view of this, this paper first deduces the geometric non-linear stiffness recurrence model of the space flexible structure, and uses the Newton-Leverson method to solve the model. Due to the iterative solution of the geometric non-linear model, the real-time property of the model is poor, the control system is not easy to be transplanted to the control system for real-time control solving, the BP neural network method is selected, and the position solution neural network structure of the three-layer six-input-six output is established, So that the real-time control programming is convenient, and the solution speed of the position solution of the system is greatly improved. Because the position solution model of the flexible parallel structure is not only the position information in the structure, but also the related force information and the rigidity information in the structure, the stiffness model of the system is given on the basis of the above-mentioned position solution model, The comprehensive and optimized design of this kind of system provides a powerful tool. A 3-PPSR parallel robot system with a large aspect ratio flexible hinge as a passive joint is set up in the aspect of a prototype experiment of a large aspect ratio flexible parallel structure, a piezoelectric motor is used as a driver, and a precision grating ruler is used as a position feedback element, Which can achieve the motion of micron-level accuracy in a cubic centimeter of working space. The steady-state error of the binding force tracking model can accurately control the external environment force by adjusting the initial reference position. The self-adaptive stress control based on the position-based external force tracking control and the uncertainty of the external environment variable under the condition of known exact external environment variables is analyzed and the self-adaptive stress control is realized by using the control force deviation of the adaptive controller under the condition that the external environment variable is not determined. The invention relates to a piezoelectric ceramic motor driven parallel robot system based on a large aspect ratio flexible hinge, which can simultaneously meet the engineering requirements of large working space and high precision.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP242
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