【摘要】：近年來,柔性關節(jié)由于具有較好的抗沖擊、容易實現(xiàn)精確的力控制,同時負載/自重比較大,在輕型機械臂、步行機器人、機械外骨骼等領域被廣泛應用。本文在“新概念智能操控載荷技術”項目的支持下,針對輕型機械臂的應用需求,提出了一種高度集成的抗沖擊柔性關節(jié),其采用串聯(lián)彈性驅動技術來實現(xiàn)被動柔性和力矩感知功能,并在此基礎上對關節(jié)開展主動柔順控制以及抗沖擊特性等研究。首先,根據(jù)設計指標要求,完成了柔性關節(jié)的總體結構設計。確定了“電機+減速器+彈性元件+負載”的設計方案,對關節(jié)內部驅動傳動系統(tǒng)、傳感系統(tǒng)以及失電制動器的具體結構進行了詳細設計;為實現(xiàn)關節(jié)的被動柔性,設計了一種新型串聯(lián)彈性元件,同時可以用其反饋關節(jié)力矩信息,利用Workbench軟件提供的DOE試驗設計法對彈性元件的形狀進行了優(yōu)化分析,使其剛度滿足關節(jié)的設計要求;對關節(jié)內部的關鍵承載零件進行了強度校核。其次,建立了柔性關節(jié)的動力學模型,并完成了主要參數(shù)的辨識。通過將串聯(lián)彈性元件簡化為無阻尼的線性扭簧,建立了柔性關節(jié)的簡化動力學模型;在動力學模型的基礎上,對柔性關節(jié)的相關特性進行了理論分析。采用靜加載的方式對關節(jié)剛度進行了辨識;利用遺傳算法辨識得到了關節(jié)的LuGre靜態(tài)摩擦模型,并提出了一種簡化線性摩擦模型;通過電機控制輸入量PWM值和與其對應的電機輸出力矩之間的關系,計算得到了電機力矩系數(shù)。然后,研究了柔性關節(jié)的位置控制、力柔順控制策略。針對柔性關節(jié)的位置控制,制定了PD控制策略和PD+反步法分層控制策略,并利用Simulink對兩種算法進行了仿真分析;針對柔性關節(jié)的力柔順控制,制定了力矩伺服控制策略和阻抗控制策略,利用ADAMS和Simulink對相應控制策略進行了聯(lián)合仿真驗證;對柔性關節(jié)進行了靜態(tài)和動態(tài)沖擊仿真分析。最后,搭建了柔性關節(jié)實驗平臺,對柔性關節(jié)進行性能實驗研究。在不同負載下,通過對柔性關節(jié)進行了不同頻率、不同幅值正弦信號跟蹤實驗,驗證了位置控制算法的有效性;通過對柔性關節(jié)進行力矩跟蹤實驗、零力矩控制實驗和擾動及碰撞實驗,驗證了力柔順控制策略的有效性;通過對柔性關節(jié)進行靜態(tài)和動態(tài)沖擊實驗,測試了關節(jié)內部彈性元件的抗沖擊特性。
[Abstract]:In recent years, flexible joints have been widely used in light manipulators, walking robots, mechanical exoskeletons and other fields because of their good impact resistance, easy to achieve accurate force control and large load/deadweight ratio. A highly integrated anti-impact flexible joint is proposed, which uses series elastic drive technology to realize passive flexibility and torque sensing. On this basis, active compliance control and anti-impact characteristics of the joint are studied. Firstly, the overall structure design of the flexible joint is completed according to the requirements of design indicators. In order to realize the passive flexibility of the joint, a new series elastic element is designed, which can be used to feedback the joint torque information and the DOE provided by Workbench software. The shape of the elastic element is optimized and analyzed by the experimental design method to make its stiffness meet the design requirements of the joint. The strength of the key load-bearing parts inside the joint is checked. Secondly, the dynamic model of the flexible joint is established and the main parameters are identified. A simplified dynamic model of the flexible joint is established. Based on the dynamic model, the relevant characteristics of the flexible joint are analyzed theoretically. The torque coefficient of the motor is calculated by the relationship between the PWM value of the motor control input and the corresponding output torque of the motor. Then, the position control and force compliance control strategies of the flexible joint are studied. The algorithm is simulated and analyzed; the torque servo control strategy and impedance control strategy are formulated for the force compliance control of flexible joints; the corresponding control strategy is verified by joint simulation using ADAMS and Simulink; the static and dynamic impact simulation analysis of flexible joints is carried out. Finally, the experimental platform of flexible joints is built to control the flexibility. The performance of the joint is experimentally studied. The effectiveness of the position control algorithm is verified by sinusoidal tracking experiments with different frequencies and amplitudes under different loads. The torque tracking experiment, zero torque control experiment and disturbance and collision experiment are carried out to verify the force compliance control strategy. The validity of the flexible joint was tested by static and dynamic impact tests.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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