【摘要】：多軸機(jī)器人系統(tǒng)正逐步替代人工從事沉重乏味的包裝、運(yùn)輸、搬運(yùn)等重復(fù)性作業(yè),具有極其重要的作用。傳統(tǒng)的機(jī)械臂內(nèi)部電纜線繁多、不具備力感知功能,導(dǎo)致機(jī)械臂的可靠性、安全性和可維護(hù)性極差,傳統(tǒng)的多軸機(jī)器人在空間、戰(zhàn)場(chǎng)、家庭等有著特殊任務(wù)要求的場(chǎng)合難以勝任,協(xié)作型機(jī)械臂正是基于這些特殊任務(wù)要求而產(chǎn)生的。本文開展了輕型無線化人機(jī)協(xié)作機(jī)械臂的研究,大大減少了機(jī)械臂的內(nèi)部走線并使之具備柔順控制能力,能與人協(xié)同完成作業(yè)任務(wù)。針對(duì)復(fù)雜人機(jī)協(xié)同作業(yè)任務(wù)要求,詳細(xì)分析了機(jī)械臂各項(xiàng)技術(shù)指標(biāo)要求,在此基礎(chǔ)上,提出輕型無線化人機(jī)協(xié)作機(jī)械臂的總體方案。機(jī)械臂關(guān)節(jié)采用永磁直流無刷電機(jī)作為動(dòng)力,諧波減速器作為傳動(dòng)部件,并設(shè)計(jì)了失電制動(dòng)器以在掉電狀態(tài)下將關(guān)節(jié)抱死。關(guān)節(jié)內(nèi)部安裝有霍爾傳感器、增量式編碼器和絕對(duì)式編碼器用于關(guān)節(jié)的位置和速度測(cè)量,同時(shí)在硬件電路上集成電流傳感器,測(cè)量電機(jī)的電流換算成力矩。機(jī)械臂的控制部分包括頂層的中央控制器以及底層的關(guān)節(jié)伺服控制器,將機(jī)械臂在MATLAB和ADMAS中的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)算法移植到中央控制器,關(guān)節(jié)伺服控制器實(shí)現(xiàn)關(guān)節(jié)的位置、速度和電流三環(huán)控制。關(guān)節(jié)伺服控制器采用FPGA+ARM的雙處理器架構(gòu),具有冗余備份功能。機(jī)械臂中央控制器與關(guān)節(jié)伺服控制器之間通過ZIGBEE無線方式進(jìn)行通訊,極大減少了關(guān)節(jié)內(nèi)部走線的數(shù)量,提高了裝配和調(diào)試的效率,更方便后續(xù)的維護(hù)。對(duì)設(shè)計(jì)的兩類模塊化關(guān)節(jié)進(jìn)行加工和裝配,并將開發(fā)的關(guān)節(jié)伺服控制器集成到關(guān)節(jié)內(nèi)部,完成了傳感器的采樣處理、控制算法的調(diào)試、關(guān)節(jié)之間的無線通訊。并在此基礎(chǔ)上進(jìn)行關(guān)節(jié)性能指標(biāo)的測(cè)試,包括三環(huán)跟蹤實(shí)驗(yàn)、關(guān)節(jié)剛度和阻力實(shí)驗(yàn)、負(fù)載實(shí)驗(yàn),最后對(duì)電流和力矩的對(duì)應(yīng)關(guān)系進(jìn)行了標(biāo)定,實(shí)驗(yàn)表明研制的兩類模塊化關(guān)節(jié)達(dá)到了要求的技術(shù)指標(biāo)。最后將七個(gè)模塊化關(guān)節(jié)、臂桿、基座進(jìn)行整體裝配,中央控制器通過ZIGBEE下發(fā)七關(guān)節(jié)的角度指令信息,驅(qū)動(dòng)整個(gè)機(jī)械臂運(yùn)動(dòng),完成功能演示實(shí)驗(yàn)。
[Abstract]:Multi-axis robot system is gradually replacing manual to do heavy and tedious packaging, transportation, handling and other repetitive operations, which plays an extremely important role. There are many cable lines in the traditional robot arm, which does not have the function of force sensing, which leads to the poor reliability, safety and maintainability of the manipulator. The traditional multi-axis robot is in space and battlefield. The family is incompetent in situations with special task requirements, and cooperative manipulator is based on these special task requirements. In this paper, the research of the lightweight wireless man-machine cooperative manipulator is carried out, which greatly reduces the internal wiring of the manipulator and makes it have the ability of compliant control, and it can accomplish the task in cooperation with people. According to the task requirements of complex man-machine cooperative operation, the technical requirements of the manipulator are analyzed in detail. On the basis of this, the overall scheme of the lightweight wireless man-machine cooperative manipulator is proposed. The permanent magnet brushless DC motor is used as the power and the harmonic reducer is used as the transmission component in the joint of the mechanical arm, and a power loss brake is designed to lock the joint under the condition of power-off. Hall sensors are installed inside the joints, incremental encoders and absolute encoders are used to measure the position and velocity of joints, and current sensors are integrated on the hardware circuit to measure the current conversion of the motor into torque. The control part of the manipulator includes the central controller of the top layer and the joint servo controller of the bottom layer. The kinematics and dynamics algorithms of the manipulator in MATLAB and ADMAS are transplanted to the central controller, and the joint servo controller realizes the position of the joint. Speed and current three-loop control. The joint servo controller adopts the dual processor architecture of FPGA ARM and has redundant backup function. The communication between the central controller of the manipulator and the joint servo controller is carried out by ZIGBEE wireless mode, which greatly reduces the number of internal wiring of the joint, improves the efficiency of assembly and debugging, and facilitates the subsequent maintenance. Two kinds of modular joints are processed and assembled, and the developed joint servo controller is integrated into the joint interior. The sensor sampling processing, control algorithm debugging and wireless communication between joints are completed. On this basis, the joint performance indexes are tested, including three-ring tracking experiment, joint stiffness and resistance test, load test, and the corresponding relationship between current and torque is calibrated. The experimental results show that the two kinds of modular joints have met the required technical specifications. Finally, the seven modular joints, arm rods and pedestal are assembled as a whole, and the central controller sends out the angle instruction information of the seven joints through ZIGBEE to drive the whole manipulator motion and complete the function demonstration experiment.
【學(xué)位授予單位】：哈爾濱工業(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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本文編號(hào)：2145421