本文選題：機(jī)械臂 + 模塊化結(jié)構(gòu)�。� 參考：《安徽工業(yè)大學(xué)》2017年碩士論文

【摘要】：機(jī)械臂在航天、醫(yī)療以及制造業(yè)中有著越來(lái)越廣泛的應(yīng)用,其代替人類執(zhí)行上述領(lǐng)域中的任務(wù)有著重要的意義,促進(jìn)了這些領(lǐng)域的發(fā)展。在此背景下,本文設(shè)計(jì)研究了一種六自由度模塊化機(jī)械臂,從結(jié)構(gòu)設(shè)計(jì)和運(yùn)動(dòng)控制方面展開(kāi)研究,主要內(nèi)容如下:首先針對(duì)操作空間、定位精度和負(fù)載等技術(shù)要求,同時(shí)滿足逆運(yùn)動(dòng)學(xué)有封閉解的條件,確定了機(jī)械臂的構(gòu)型,在總體方案設(shè)計(jì)的基礎(chǔ)上,基于模塊化設(shè)計(jì)思想設(shè)計(jì)了關(guān)節(jié)結(jié)構(gòu),然后進(jìn)行了主要零部件的選型,最終完成了三維模型設(shè)計(jì),并通過(guò)樣機(jī)制備驗(yàn)證了結(jié)構(gòu)設(shè)計(jì)的合理性。針對(duì)本文機(jī)械臂的構(gòu)型,通過(guò)D-H法對(duì)正逆解進(jìn)行了分析,基于矩陣逆乘的思路提出此類機(jī)械臂逆解的一般方法,得到了八組解析解,并給出了機(jī)械臂奇異位置的逆解處理方法,最后運(yùn)用機(jī)器人工具箱驗(yàn)證正逆解的正確性,為后續(xù)的軌跡規(guī)劃奠定了基礎(chǔ)。針對(duì)六自由度機(jī)械臂關(guān)節(jié)空間和笛卡爾空間的軌跡規(guī)劃問(wèn)題,本文采用一種梯形運(yùn)動(dòng)規(guī)律,提出了點(diǎn)到點(diǎn)以及連續(xù)路徑的軌跡規(guī)劃方法,規(guī)劃結(jié)果顯示各關(guān)節(jié)角度變化曲線連續(xù)、平滑,保證了運(yùn)動(dòng)的平穩(wěn)性。最后根據(jù)六自由度機(jī)械臂的運(yùn)動(dòng)控制要求,采用工控機(jī)+運(yùn)動(dòng)控制卡的控制系統(tǒng)結(jié)構(gòu)搭建了系統(tǒng)硬件平臺(tái),并設(shè)計(jì)了主要硬件的連接接口,從硬件層面保證系統(tǒng)的穩(wěn)定性和較高的控制精度。在分析系統(tǒng)基本控制功能的基礎(chǔ)上,先進(jìn)行軟件整體框架的設(shè)計(jì),然后分人機(jī)交互界面、運(yùn)動(dòng)控制功能和控制卡驅(qū)動(dòng)三部分進(jìn)行軟件開(kāi)發(fā),保證了軟件功能的整體完備性,并且便于軟件后期的升級(jí)和維護(hù)。
[Abstract]:The robot arm is more and more widely used in aerospace, medical and manufacturing industries. It is of great significance to replace human beings in carrying out the tasks in these fields, and has promoted the development of these fields. In this context, a 6-DOF modular manipulator is designed and studied from the aspects of structure design and motion control. The main contents are as follows: firstly, aiming at the technical requirements of operation space, positioning accuracy and load, etc. At the same time, according to the condition of inverse kinematics with closed solution, the configuration of the manipulator is determined. On the basis of the overall scheme design, the joint structure is designed based on the modular design idea, and then the selection of the main parts is carried out. Finally, the 3D model design is completed, and the rationality of the structure design is verified by the prototype preparation. According to the configuration of the manipulator in this paper, the forward and inverse solutions are analyzed by D-H method. Based on the idea of matrix inverse multiplication, the general method of inverse solution of this kind of manipulator is proposed, and eight sets of analytical solutions are obtained, and the inverse solution method of the singular position of the manipulator is given. Finally, the robot toolbox is used to verify the correctness of the forward and inverse solutions, which lays a foundation for the subsequent trajectory planning. Aiming at the trajectory planning problem of joint space and Cartesian space of 6-DOF mechanical arm, a trapezoidal motion law is adopted in this paper, and a trajectory planning method of point-to-point and continuous path is proposed. The planning results show that the angle curve of each joint is continuous and smooth, which ensures the stability of motion. Finally, according to the motion control requirements of the six-degree-of-freedom manipulator, the system hardware platform is built using the control system structure of the IPC motion control card, and the connection interface of the main hardware is designed. The stability and control accuracy of the system are guaranteed from the hardware level. On the basis of analyzing the basic control function of the system, the design of the whole software frame is carried out first, and then the software is developed in three parts: the man-machine interface, the motion control function and the control card driver, which ensures the overall completeness of the software function. And easy to upgrade and maintain the software later.
【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】：2017
【分類號(hào)】：TP241

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