本文選題：夾持器 + 八角環(huán)二維力傳感器��； 參考：《江南大學(xué)》2017年碩士論文

【摘要】：隨著智能制造飛速發(fā)展,工業(yè)機(jī)器人作為一種先進(jìn)的制造裝備扮演著不可或缺的角色。由于需要完成各種各樣的任務(wù),機(jī)器人需要各種不同的末端執(zhí)行器來完成物料的抓取。在食品包裝、農(nóng)業(yè)采摘等行業(yè),對于柔軟或酥脆物品的抓取一直是機(jī)器人技術(shù)應(yīng)用的難點(diǎn)。如何使機(jī)械手像人手一樣,能依靠復(fù)雜的感知系統(tǒng),檢測物體信息和夾持力信號,準(zhǔn)確地識別物體的軟硬程度、重量、表面情況等信息,精確控制抓取力的大小,是目前國內(nèi)外智能機(jī)器人研究的重點(diǎn)之一。本文針對食品機(jī)器人應(yīng)用需求,設(shè)計(jì)了一款小型八角環(huán)二維力傳感器,用來感知抓取過程中夾持力和切向力信息。在此基礎(chǔ)上設(shè)計(jì)了機(jī)器人靈巧末端夾持器,實(shí)現(xiàn)對柔軟或酥脆物品的穩(wěn)定抓取。首先,對夾持器抓取物體過程進(jìn)行了受力分析,確定切向力與夾持力的檢測需求。設(shè)計(jì)了能夠檢測二維力的八角環(huán)傳感器,利用ANSYS仿真軟件對傳感器進(jìn)行了有限元和應(yīng)變節(jié)點(diǎn)分析,對其結(jié)構(gòu)參數(shù)進(jìn)行優(yōu)化設(shè)計(jì)。設(shè)計(jì)制作了八角環(huán)傳感器實(shí)驗(yàn)樣機(jī)和檢測裝置,通過傳感器靜態(tài)標(biāo)定實(shí)驗(yàn)得到耦合矩陣,再反解得到解耦矩陣,能夠通過補(bǔ)償減少因?yàn)闄C(jī)械加工不準(zhǔn)和應(yīng)變片位置粘貼不到位而產(chǎn)生的誤差。通過簡單的夾持試驗(yàn)證明,該八角環(huán)傳感器滿足對物體夾持力與切向力的檢測要求。設(shè)計(jì)制作了夾持器樣機(jī)和系統(tǒng)實(shí)驗(yàn)平臺(tái),包含夾持器、控制系統(tǒng)硬件和上位機(jī)軟件等。控制系統(tǒng)硬件由工控機(jī)、運(yùn)動(dòng)控制卡、數(shù)據(jù)采集卡、交流伺服系統(tǒng)、八角環(huán)二維力傳感器及信號放大器、線性直流電源等組成。上位機(jī)軟件用LabVIEW開發(fā),具有實(shí)驗(yàn)數(shù)據(jù)采集、分析以及和機(jī)器人控制系統(tǒng)通訊接口功能。利用實(shí)驗(yàn)平臺(tái)對夾持力的控制方法進(jìn)行了研究。夾持器在抓取物體時(shí)會(huì)產(chǎn)生一定的形變,因此采用位置和力的串級控制進(jìn)行夾持力控制。在位置控制階段采用變速控制,以減小夾持器由張開狀態(tài)到接觸物體過渡時(shí)間。針對不同剛性物體,采用不同的抓取速度,并且采用基于力閉環(huán)變速控制的算法,即將目標(biāo)力和實(shí)際力的力偏差轉(zhuǎn)化為位置控制系統(tǒng)的速度,當(dāng)力偏差減小,夾持器二指閉合速度自動(dòng)減速直至停止,從而減小力的超調(diào)量和過大的振蕩。實(shí)驗(yàn)結(jié)果表明,夾持力控制系統(tǒng)穩(wěn)定,能快速的達(dá)到參考力,滿足最終的抓取要求。研究了基于二維力反饋的動(dòng)態(tài)抓取策略。在抓取過程中,通過八角環(huán)二維力傳感器檢測反饋夾持力與切向力的二維力信息,采用基于二維力反饋的力比例控制,使切向力與夾持力的比值保持在一定的閾值以內(nèi),從而使物體和夾持器手指之間不發(fā)生滑動(dòng),保證夾持器手指不脫離物體表面,并且保護(hù)物體避免因夾持力過大而被損壞。實(shí)驗(yàn)證明了該方案能成功抓取物體且避免損害。
[Abstract]:With the rapid development of intelligent manufacturing, industrial robots play an indispensable role as an advanced manufacturing equipment. Because of all kinds of tasks, robots need different end actuators to capture materials. In food packaging, agricultural picking and other industries, grasping soft or crisp items has always been a difficult point in the application of robot technology. How to make the manipulator, like a hand, be able to rely on complex sensing systems to detect object information and clamping force signals, accurately identify the soft and hard degree of the object, weight, surface conditions, and so on, and accurately control the size of the grasping force. It is one of the emphases of intelligent robot research at home and abroad. In order to meet the requirements of food robot application, a small octagonal two dimensional force sensor is designed to sense the information of clamping force and tangential force during grasping. On this basis, the robot dexterous end gripper is designed to achieve a stable grasp of soft or crisp objects. Firstly, the mechanical analysis of gripper grabbing process is carried out to determine the measurement requirements of tangential force and clamping force. The octagonal ring sensor which can detect two-dimensional force is designed. The finite element analysis and strain node analysis of the sensor are carried out by using ANSYS simulation software, and the structural parameters are optimized. The experimental prototype of octagonal ring sensor and the detecting device are designed and manufactured. The coupling matrix is obtained by the static calibration experiment of the sensor, and then the decoupling matrix is obtained by inverse solution. It can reduce the error caused by machining inaccuracy and strain gauge position misbonding by compensating. It is proved by simple clamping test that the octagonal ring sensor can meet the requirements of measuring the clamping force and tangential force. The prototype of the gripper and the experimental platform of the system are designed and manufactured, including the gripper, the hardware of the control system and the software of the upper computer. The hardware of the control system consists of industrial control computer, motion control card, data acquisition card, AC servo system, octagonal two dimensional force sensor and signal amplifier, linear DC power supply and so on. The upper computer software is developed by LabVIEW and has the functions of data acquisition, analysis and communication with robot control system. The control method of clamping force is studied by using the experimental platform. The gripper will produce certain deformation when grabbing the object, so the position and force cascade control is used to control the clamping force. In the position control stage, variable speed control is used to reduce the transition time from open state to contact object. Aiming at different rigid objects, different grasping speed is adopted, and the algorithm based on force closed loop variable speed control is adopted. The force deviation of target force and actual force is transformed into the speed of position control system, and the force deviation decreases when the force deviation is reduced. The two-point closing speed of the gripper automatically slows down until it stops, thus reducing the overshoot of force and excessive oscillation. The experimental results show that the clamping force control system is stable, can quickly reach the reference force, and meet the final grasp requirements. The dynamic capture strategy based on two-dimensional force feedback is studied. In the process of grasping, the 2-D force information of the feedback clamping force and tangential force is detected by the octagonal ring two-dimensional force sensor, and the force proportional control based on the two-dimensional force feedback is adopted to keep the ratio of the tangential force to the gripping force within a certain threshold. Therefore, there is no sliding between the object and the gripper finger, which ensures that the gripper finger does not break off the surface of the object and protects the object from being damaged by excessive clamping force. Experiments show that the scheme can grasp objects successfully and avoid damage.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242.2

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