本文關(guān)鍵詞：直角坐標(biāo)柔性機器人操作臂機電耦合動力學(xué)及振動特性研究　出處：《中國礦業(yè)大學(xué)》2016年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 直角坐標(biāo)機器人 柔性操作臂 機電耦合動力學(xué) 機械結(jié)合部 彈性約束 參數(shù)振動 振動功率流 穩(wěn)定性

【摘要】：直角坐標(biāo)機器人是工業(yè)機器人領(lǐng)域的重要組成,在機械加工、精密裝配、上下料、噴涂等工藝中具有重要的應(yīng)用。機器人操作臂是執(zhí)行操作任務(wù)的關(guān)鍵部件,其結(jié)構(gòu)性能和動態(tài)特性對直角坐標(biāo)機器人的操作精度具有重要影響。傳統(tǒng)的機器人操作臂采用剛性結(jié)構(gòu),整體結(jié)構(gòu)較為笨重,增加了系統(tǒng)的體積質(zhì)量和能耗。柔性操作臂具有輕質(zhì)、靈活、能耗低等特點,能夠有效降低機器人操作臂的體積質(zhì)量,符合機器人輕型、高速、集成化的發(fā)展要求。然而,由于結(jié)構(gòu)剛度低、阻尼小,柔性操作臂在執(zhí)行任務(wù)、尤其是高速操作的過程中極易產(chǎn)生彈性變形和殘余振動,嚴(yán)重影響其末端執(zhí)行器的操作精度和效率,甚至導(dǎo)致操作失敗或經(jīng)濟損失。為此,深入研究柔性操作臂的動力學(xué)及振動特性,既是柔性操作臂振動控制的基礎(chǔ),也是有效解決機器人由剛性向柔性發(fā)展的關(guān)鍵。作為典型的復(fù)雜機電系統(tǒng),機器人伺服驅(qū)動與執(zhí)行機構(gòu)之間存在復(fù)雜的機電耦合關(guān)系,通過傳動系統(tǒng)的作用而產(chǎn)生系統(tǒng)激勵;對于高速輕型結(jié)構(gòu)而言,機電耦合因素產(chǎn)生的系統(tǒng)激勵將更為凸顯。由于柔性操作臂模態(tài)較低,系統(tǒng)激勵對其動態(tài)特性的影響將更顯著,而機械結(jié)合部和柔性因素的存在進一步增強了系統(tǒng)耦合因素的影響。因此,研究柔性操作臂的振動特性,應(yīng)充分考慮系統(tǒng)耦合因素的影響。本文在國家自然科學(xué)基金項目、教育部博士點基金項目、江蘇省科技支撐計劃項目和江蘇省普通高校研究生科研創(chuàng)新計劃項目的資助下,結(jié)合直角坐標(biāo)機器人的結(jié)構(gòu)和運動特征,基于理論建模、數(shù)值仿真分析、虛擬樣機實驗和實驗系統(tǒng)測試手段,對柔性操作臂機電耦合動力學(xué)及振動特性開展研究。研究工作主要包括:(1)建立了直角坐標(biāo)柔性機器人的動力學(xué)模型,完成了實驗系統(tǒng)構(gòu)建�；贖amilton變分原理推導(dǎo)了柔性操作臂平移、伸縮和斜向運動特征下的動力學(xué)方程,分析了不同運動特征下柔性操作臂的振動特性;探討了柔性操作臂勻速運動振動響應(yīng)的初始條件,通過分析加速階段柔性操作臂的振動響應(yīng),確定了勻速運行階段振動響應(yīng)的初始條件,基于此對柔性操作臂勻速運行的振動特性進行分析,并與虛擬樣機實驗結(jié)果進行對比驗證;采用直角坐標(biāo)機器人本體結(jié)構(gòu)、環(huán)氧樹脂材料柔性操作臂和螺栓連接結(jié)合部,搭建了直角坐標(biāo)柔性機器人實驗系統(tǒng),介紹了實驗系統(tǒng)的結(jié)構(gòu)組成及其模擬柔性機器人系統(tǒng)耦合因素的可行性,對各運動特征下柔性操作臂的振動響應(yīng)特性進行了實驗測試分析。(2)研究了柔性操作臂結(jié)合部彈性約束模型及動態(tài)特性,探討了結(jié)合部彈性約束的作用機理。考慮線約束和扭轉(zhuǎn)約束作用,建立了螺栓結(jié)合部的彈性約束模型,根據(jù)虛功原理確定了柔性操作臂的邊界約束條件,推導(dǎo)了其頻率方程和振型函數(shù),分析了柔性操作臂的頻率和振型特性,揭示了結(jié)合部彈性約束對柔性操作臂模態(tài)特性的影響;采用靈敏度方法分析了線約束和扭轉(zhuǎn)約束對頻率的影響程度,給出了結(jié)合部的彈性約束區(qū)域,基于此對頻率曲線進行擬合,表征了結(jié)合部約束剛度與頻率之間的關(guān)系,分析了結(jié)合部彈性約束對柔性操作臂振動特性的影響;通過模態(tài)測試實驗驗證了彈性約束模型的有效性,為研究結(jié)合部彈性約束下柔性操作臂的機電耦合動態(tài)特性提供了理論模型。(3)開展了柔性操作臂機電耦合動力學(xué)建模及聯(lián)合仿真虛擬實驗。考慮系統(tǒng)存在的耦合關(guān)系,將驅(qū)動系統(tǒng)、傳動系統(tǒng)和負(fù)載執(zhí)行機構(gòu)作為整體,建立了包含電磁系統(tǒng)與機械系統(tǒng)的系統(tǒng)全局耦合關(guān)系和物理模型,采用機電分析動力學(xué)方法,推導(dǎo)了系統(tǒng)的機電耦合動力學(xué)方程;采用Matlab/Simulink建立了系統(tǒng)的動力學(xué)仿真模型,對電機的輸出轉(zhuǎn)速和移動基座的運動特性進行分析,揭示了機電耦合作用下系統(tǒng)的運動波動規(guī)律;基于系統(tǒng)動力學(xué)仿真模型與虛擬樣機模型,采用Matlab/Simulink和Adams/controls建立聯(lián)合仿真模型,對機電耦合作用下柔性操作臂的振動特性進行聯(lián)合仿真虛擬實驗,為研究柔性操作臂的參數(shù)振動特性奠定了基礎(chǔ)。(4)分析了機電耦合作用下柔性操作臂的參數(shù)振動特性和穩(wěn)定性。表征了移動基座的運動特性方程,基于此推導(dǎo)了運動波動下柔性操作臂的參數(shù)振動方程,分析了柔性操作臂的參數(shù)振動特性,驗證了運動波動的影響;根據(jù)柔性操作臂參數(shù)振動的穩(wěn)態(tài)功率流特性,直觀展現(xiàn)了柔性操作臂的振動能量分布,分析了結(jié)合部彈性約束對參數(shù)振動及穩(wěn)態(tài)功率流的影響;采用直接多尺度方法推導(dǎo)確定了柔性操作臂參數(shù)振動的穩(wěn)定性邊界,討論了結(jié)合部彈性約束和末端執(zhí)行器負(fù)載對系統(tǒng)失穩(wěn)區(qū)域的影響,通過實驗測試分析了柔性操作臂的參數(shù)振動特性,驗證了理論模型及分析結(jié)果的正確性。本文所取得的研究成果對深入開展多耦合狀態(tài)下柔性操作臂的動力學(xué)和振動特性具有重要的指導(dǎo)意義,為柔性操作臂的機電耦合振動控制奠定了理論基礎(chǔ),對柔性機器人的集成設(shè)計具有重要的實際應(yīng)用價值。
[Abstract]:The Cartesian coordinate robot is an important component in the field of industrial robots, mechanical processing, precision assembly, loading and unloading, has important applications in spraying process. The robot manipulator is a key component of performing tasks, has an important influence on the precision of operation of Cartesian coordinate robot's structure performance and dynamic characteristics of the robot manipulator. The traditional rigid structure, the whole structure is relatively heavy, increases the volume quality and energy consumption of the system. Flexible manipulator has the advantages of light weight, flexible, low energy consumption, can effectively reduce the volume and quality of the robot manipulator, the robot with light, high speed development, the requirement of integration. However, due to the structure of low stiffness, small damping flexible manipulator, in the execution of a task, especially easy to produce elastic deformation and residual vibration during high speed operation, seriously affect the end effector operation precision and efficiency Rate, even leading to operation failure or economic loss. Therefore, in-depth study of dynamics and vibration characteristics of flexible manipulator, flexible manipulator is based on vibration control, but also effectively solve the key from rigid to flexible robot development. As a typical complicated electromechanical system, existing electromechanical complex coupling relations between the robot and servo actuator and, through the transmission system of the incentive system for the high speed light effect; structure, incentive system to produce electromechanical coupling factors will be more prominent. Because the flexible manipulator system mode is low, incentive effect on its dynamic characteristics will be more significant, and the combination of mechanical and flexible factors exist to further enhance the effect of coupling system factors. Therefore, the vibration characteristics of flexible manipulator, should fully consider the influence factors of the coupling system. Based on the National Natural Science Foundation Project fund for the doctoral program of Ministry of education, Jiangsu province science and technology support program and the Jiangsu Province ordinary university students scientific research innovation project funding, combined with the structure and motion of the robot, based on theoretical modeling, numerical simulation, virtual experiment system and experiment test method, carry out research on electromechanical flexible manipulator the coupling dynamics and vibration characteristics. The main research work includes: (1) to establish the dynamics model of Cartesian flexible robot, the experimental system is constructed. The Hamilton variational principle is derived based on the flexible manipulator of translation, scaling and oblique dynamic equation of motion characteristics, analysis of the vibration characteristics of different motion characteristics of flexible manipulator the effects of initial conditions; flexible manipulator motion vibration response, through the analysis of vibration acceleration stage of flexible manipulator to determine the response. The uniform operation stage of vibration response of the initial conditions, the analysis of the vibration characteristics of flexible manipulator based on uniform operation, and compared with the experimental results by using virtual prototype; ontology structure of Cartesian coordinate robot, flexible manipulator and epoxy resin bolt connection with the Department, build a Cartesian flexible robot experiment system is introduced the feasibility of structure experiment system and flexible robot system coupling factor simulation, the vibration response of the motion characteristics of flexible manipulator are tested and analyzed. (2) research on the flexible manipulator with elastic constraint model and dynamic characteristics, discusses the interaction mechanism of elastic restraint. Line constraint and torsion considering the effect of constraint, a bolt with elastic restraint model, according to the principle of virtual work boundary constrained flexible manipulator were determined. The conditions, the frequency equation and modal function is derived, analyzed the frequency and vibration characteristics of flexible manipulator, reveals the combination of elastic restraint effect on flexible manipulator modal characteristics; using sensitivity method to analyze the constraints and influence on the frequency of torsional constraints, given the combination of elastic constraint region. The fitting of the frequency curve based on the characterization of the relationship between joint constraint stiffness and frequency. The analysis of elastic restraint effect on the vibration characteristics of the flexible manipulator; through modal testing experiments to validate the elastic constraint model, provides a theoretical model for the study of dynamic characteristic of electromechanical coupling of elasticity constraints flexible manipulator. (3) carried out a flexible manipulator electromechanical coupling dynamic modeling and joint simulation virtual experiment. Considering the system coupling relationship exists, the drive system, transmission system The actuator and load as a whole, has established the system global coupling relation and physical model including electromagnetic and mechanical systems, the electromechanical dynamics analysis method, the electromechanical coupled dynamic equations of the system are derived by Matlab/Simulink; established the system dynamics simulation model, analyzed the movement characteristics of the output speed of the motor and the mobile base, revealed the movement fluctuation of the electro-mechanical coupling system; system dynamics model and simulation based on virtual prototype model, using Matlab/Simulink and Adams/controls to establish a joint simulation model, the vibration characteristic of electromechanical coupling flexible manipulator joint simulation virtual experiment, laid the foundation for the parametric vibration characteristics of flexible manipulator (4.) parameters of vibration characteristics and stability of electromechanical coupling flexible manipulator is analyzed to characterize the mobile. The base motion equations, based on the derived equations of motion parameters of vibration fluctuation of flexible manipulator, the parameters on the vibration characteristics of flexible manipulator, and verifies the effect of motor fluctuations; according to the steady-state power parameters of flexible manipulator vibration flow characteristic, intuitive display of the vibration energy distribution of flexible manipulator, analyzes the elastic constraints on the parameters affecting the vibration and steady-state power flow; using the method of multiple scales is to determine the stability boundary of flexible manipulator vibration parameters, discussed the elastic constraints and end effector load influences of instability zones on the system with the parameters, vibration characteristics of flexible manipulator are analyzed through experimental test, the correctness of the to verify the theoretical model and analysis results. The main achievements of the thesis are to carry out the dynamics and vibration characteristics of flexible manipulator under the coupling of multi It has important guiding significance, laying a theoretical foundation for the electromechanical coupling vibration control of flexible manipulator, and has important practical application value for the integrated design of flexible robot.

【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP242.2

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