【摘要】：近年來,隨著機器人學科的發(fā)展,作為機器人末端執(zhí)行器的仿人機械手引起了很多科研機構和產(chǎn)業(yè)界的重視,由于工作任務的復雜性和工作環(huán)境的未知性,使得仿人機械手在設計層面擁有較高的要求,因此要設計出形狀小巧、靈活作業(yè)的仿人機械手并不容易。目前現(xiàn)有仿人機械手要么因大量的零部件導致結構復雜,要么為了節(jié)省空間使得傳動方式不夠完善。因為方案上的妥協(xié)和讓步,目前這些仿人機械手在外觀和功能上都不盡如人意。本課題旨在設計一個氣動仿人機械手平臺,手指的設計和控制是整個平臺的關鍵部分,通過仿真分析與實物驗證對其進行運動學與控制策略的研究。首先,根據(jù)仿生學原理,通過對人手的結構與功能進行深入研究與分析,提出了氣動仿人機械手的技術方案,其中手指、手掌結構設計以及手指關節(jié)的傳動設計基于等角度圓規(guī)動作原理,每個手指都具有全驅動特性,運用Solidworks設計軟件完成了結構圖的繪制;驅動設計采用單作用彈簧壓回氣缸驅動,通過氣壓和氣缸彈簧的相互作用控制氣缸行程,從而控制手指彎曲程度;控制設計方面搭建了基于PLC控制的由電氣比例閥構成的氣動回路電氣控制系統(tǒng)。其次,通過手指的正逆運動學理論分析,并運用MATLAB進行手指各指節(jié)的運行軌跡仿真;通過研究人手各種手勢形態(tài),運用ADAMS對機械手手指進行運動學仿真得出各關節(jié)的位置、速度、加速度等參數(shù);使用Simulation對手指的材料的剛度特性進行有限元應力仿真和尺寸優(yōu)化。最后,通過PLC編寫相關程序就能夠實現(xiàn)機械手常用的手勢,在主從控制模式下,使用基于彎曲傳感器的數(shù)據(jù)手套可以實現(xiàn)氣動仿人機械手與操作者手的同步運動,驗證了機械手結構尺寸的合理性、運動的可行性,為仿人機械手的研發(fā)提供了一套可行的理論分析與設計方法。
[Abstract]:In recent years, with the development of robotics, humanoid manipulators, which are the end actuators of robots, have attracted the attention of many scientific research institutions and industry, because of the complexity of work tasks and the unknown working environment. Therefore, it is not easy to design humanoid manipulator with small shape and flexible operation. At present, the existing humanoid manipulator is either complicated by a large number of parts, or it is not perfect in order to save space. Due to compromise and compromise, these humanoid manipulators are not satisfactory in appearance and function. The purpose of this paper is to design a pneumatic humanoid manipulator platform. The design and control of finger is the key part of the platform. The kinematics and control strategy of the platform are studied by simulation analysis and physical verification. First of all, according to the principle of bionics, through the in-depth study and analysis of the structure and function of the human hand, the technical scheme of the pneumatic humanoid manipulator is put forward, in which the finger, The design of palm structure and the transmission design of finger joint are based on the principle of equal angle compasses. Each finger has full driving characteristic. The structure diagram is drawn by using Solidworks software, and the driving design is driven by single acting spring pressing back cylinder. The stroke of cylinder is controlled by the interaction of air pressure and cylinder spring, and the degree of finger bending is controlled. In the aspect of control design, an electric control system of pneumatic circuit composed of electric proportional valve is built based on PLC control. Secondly, through the theoretical analysis of the forward and inverse kinematics of the fingers and the use of MATLAB to simulate the running track of the finger joints, the kinematic simulation of the fingers of the manipulator is carried out by using the ADAMS to get the position of the joints by studying the various gestures of the hands, and by using the ADAMS to simulate the kinematics of the fingers of the manipulator. Simulation is used to simulate the stiffness characteristics of finger material by finite element stress simulation and dimension optimization. Finally, the common gesture of manipulator can be realized by PLC. In master-slave control mode, the synchronous movement of pneumatic humanoid manipulator and operator can be realized by using data gloves based on bending sensor. The rationality of structure dimension and the feasibility of motion of manipulator are verified, and a set of feasible theoretical analysis and design method are provided for the research and development of humanoid manipulator.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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