本文關(guān)鍵詞： 多指手 液壓驅(qū)動(dòng) 電液比例控制 仿真　出處：《安徽工業(yè)大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：多指靈巧手作為工業(yè)機(jī)器人與外界進(jìn)行作用的最后執(zhí)行元件，其抓取和操作的研究已經(jīng)成為當(dāng)今機(jī)器人領(lǐng)域中一個(gè)重要的研究主題。目前由于驅(qū)動(dòng)方式和動(dòng)力裝置的限制，造成多指手的端面負(fù)載能力有限，只能抓起很小、很輕的物體，多指手的應(yīng)用還停留在實(shí)驗(yàn)室研究開(kāi)發(fā)階段；因此，選擇合適的驅(qū)動(dòng)方式對(duì)多指手的工業(yè)實(shí)用性能和操作可行性具有決定性意義。 為了解決手指在體積、負(fù)載、驅(qū)動(dòng)和控制之間的矛盾，本課題以機(jī)器人多指手為研究對(duì)象，在對(duì)國(guó)內(nèi)外多指手研究現(xiàn)狀分析基礎(chǔ)上，從機(jī)構(gòu)學(xué)入手，采用串聯(lián)四連桿機(jī)構(gòu)的設(shè)計(jì)方案，通過(guò)液壓全驅(qū)動(dòng)進(jìn)行控制。通過(guò)對(duì)其關(guān)鍵技術(shù)的研究，，旨在解決多指手體積與負(fù)載能力之間的矛盾，并對(duì)為提供穩(wěn)定精準(zhǔn)抓取而采取的控制方案進(jìn)行探究。 論文首先在對(duì)驅(qū)動(dòng)系統(tǒng)對(duì)比分析以及傳動(dòng)方式研究基礎(chǔ)上，將基于連桿的可變四邊形機(jī)構(gòu)和液壓驅(qū)動(dòng)器集成在手指上，提出了基于液壓全驅(qū)動(dòng)的多指手設(shè)計(jì)方案與機(jī)械結(jié)構(gòu)模型；然后對(duì)多指手單指機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)建模分析，推導(dǎo)出手指關(guān)節(jié)角與液壓缸行程的運(yùn)動(dòng)學(xué)關(guān)系，并利用MATLAB計(jì)算出指端包絡(luò)空間。 其次，根據(jù)抓取操作的特點(diǎn)設(shè)計(jì)了手指機(jī)構(gòu)的液壓驅(qū)動(dòng)系統(tǒng)，詳細(xì)闡述了多指手抓取過(guò)程中的液壓原理，并根據(jù)設(shè)計(jì)要求選擇了相應(yīng)的液壓元器件。為簡(jiǎn)化分析，根據(jù)抓取控制策略將手指機(jī)構(gòu)整體液壓系統(tǒng)劃分基于位置控制與力控制的兩個(gè)簡(jiǎn)化子系統(tǒng)，建立了相應(yīng)的數(shù)學(xué)模型；在獲得液壓參數(shù)基礎(chǔ)上，對(duì)各子系統(tǒng)的液壓動(dòng)態(tài)特性進(jìn)行了仿真分析。為改善手指機(jī)構(gòu)液壓系統(tǒng)控制性能，引入PID控制器進(jìn)行校正調(diào)節(jié)。 最后，利用虛擬樣機(jī)仿真技術(shù)在動(dòng)力學(xué)仿真軟件ADAMS中搭建了多種手的仿真機(jī)械模型并進(jìn)行了抓取仿真試驗(yàn)。通過(guò)仿真驗(yàn)證理論設(shè)計(jì)計(jì)算的正確性，并由分析結(jié)果探討了基于液壓全驅(qū)動(dòng)的多指手研制的可行性與有效性。 以上研究?jī)?nèi)容不僅對(duì)機(jī)器人多指手的理論研究具有一定的指導(dǎo)作用，同時(shí)還為未來(lái)多指手的樣機(jī)開(kāi)發(fā)和工業(yè)應(yīng)用奠定基礎(chǔ)。
[Abstract]:Multi - fingered dexterous hand , as the last executing element of industrial robot and external force , has become an important research topic in the field of robot . Due to the driving mode and the limitation of the power device , the end surface loading capacity of the multi - fingered hand is limited , only a small and light object can be picked up , and the application of the multi - fingered hand is still in the research and development stage of the laboratory ; therefore , the selection of a suitable driving mode can be decisive for the industrial practicability and the operation feasibility of the multi - fingered hand . In order to solve the contradiction between the volume , the load , the driving and the control of the finger , this topic is based on the analysis of the present situation of multi - fingered hand . Based on the analysis of the present situation of multi - fingered hand at home and abroad , the design of four - bar linkage mechanism is adopted to control . Through the research of the key technology , the paper aims to solve the contradiction between the volume of the multi - fingered hand and the load capacity , and to explore the control scheme adopted to provide stable precise grasping . Firstly , on the basis of comparative analysis and transmission mode of the drive system , the variable quadrilateral mechanism and the hydraulic driver based on the connecting rod are integrated on the finger , and a multi - fingered hand design scheme and a mechanical structure model based on the hydraulic full drive are put forward ; the kinematic model analysis is carried out on the multi - fingered hand single finger mechanism , and the kinematic relation between the hand knuckle angle and the stroke of the hydraulic cylinder is deduced , and the finger end envelope space is calculated by MATLAB . Secondly , according to the characteristic of grabbing operation , the hydraulic drive system of finger mechanism is designed , and the hydraulic principle in the grasping process of multi - fingered hand is explained in detail . According to the design requirement , the corresponding hydraulic components are selected . Finally , the simulation mechanical model of various hand is built in ADAMS of dynamic simulation software by using virtual prototype simulation technology , and the simulation test is carried out . The correctness of calculation is verified by simulation , and the feasibility and effectiveness of multi - fingered hand development based on hydraulic full drive are discussed . The above research not only has a certain guiding role for the theoretical research of robot multi - fingered hand , but also lays a foundation for the development of prototype and industrial application of multi - fingered hand in the future .

【學(xué)位授予單位】：安徽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TP242.2;TH137

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 劉博,郭衛(wèi)東,張玉茹;用于靈巧手的新型兩自由度關(guān)節(jié)機(jī)構(gòu)[J];北京航空航天大學(xué)學(xué)報(bào);2004年01期

2 譚定忠;喬鋒華;姚昕;朱麗丹;宋瑞涵;;基于欠驅(qū)動(dòng)機(jī)構(gòu)的水下作業(yè)機(jī)械手仿真研究[J];中國(guó)工程機(jī)械學(xué)報(bào);2007年04期

3 楊智,朱海鋒,黃以華;PID控制器設(shè)計(jì)與參數(shù)整定方法綜述[J];化工自動(dòng)化及儀表;2005年05期

4 楊洋,陸震,張啟先;多指靈巧手考慮漸近穩(wěn)定性的最優(yōu)抓持規(guī)劃[J];航空學(xué)報(bào);1996年03期

5 王國(guó)慶,張啟先,李大寨,何永強(qiáng);基于抓持穩(wěn)定度的多指靈巧手抓持控制[J];航空學(xué)報(bào);1997年03期

6 白金;韓俊偉;;基于MATLAB/Simulink環(huán)境下的PID參數(shù)整定[J];哈爾濱商業(yè)大學(xué)學(xué)報(bào)(自然科學(xué)版);2007年06期

7 肖晟;強(qiáng)寶民;;基于對(duì)稱四通閥控非對(duì)稱液壓缸的電液比例位置控制系統(tǒng)建模與仿真[J];機(jī)床與液壓;2009年06期

8 鄭宇,錢文瀚;軟指接觸約束的線性化和它在多指手動(dòng)態(tài)力分配中的應(yīng)用[J];中國(guó)科學(xué)E輯:工程科學(xué) 材料科學(xué);2005年03期

9 陳煒,余躍慶,張緒平;欠驅(qū)動(dòng)機(jī)器人研究綜述[J];機(jī)械設(shè)計(jì)與研究;2005年04期

10 劉慶運(yùn);錢瑞明;顏景平;;機(jī)器人多指手抓取運(yùn)動(dòng)學(xué)研究綜述[J];機(jī)械科學(xué)與技術(shù);2006年08期

本文編號(hào)：1481860