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机器人模块化关节的研究与实现
其他题名Research and realization of Robot Modular Joint
盖海松1,2
导师徐方
分类号TP242
关键词模块化关节 扭矩传感器 人机协作 阻抗控制
索取号TP242/G14/2016
页数67页
学位专业机械电子工程
学位名称硕士
2016-05-25
学位授予单位中国科学院沈阳自动化研究所
学位授予地点沈阳
作者部门其他
摘要该研究的总体方向为通过设计模块化关节与关节扭矩传感器实现机器人的柔顺力控制即人机协作。因此本论文的主要研究内容包括三个方面,分别是模块化关节的设计,关节扭矩传感器的设计与研究,单关节力控制研究。该模块化关节为机械传动与驱动控制一体化设计,关节内部集成电机、减速机、抱闸、光电编码器、驱动器。单关节力控制研究主要实现的功能包括,拖拽式示教、碰撞检测保护等等。完成的主要工作如下:(1)根据负载的重量和允许的扭矩设计合理的末端负载结构;(2)电机、减速机、制动器的设计;(3)采用新的结构设计布局,完成整个模块化关节设计(4)两种形式关节连杆结构的设计;(5)关节扭矩传感器机械本体结构的优化设计;(6)扭矩传感器工作原理分析及桥路设计;(7)带有扭矩传感器的单关节力控制实验平台的设计;(8)基于阻抗控制的拖拽式功能实验设计与实现;(9)基于阻抗控制碰撞检测功能实验设计与实现。本文的设计思路为由浅入深即首先设计机器人模块化关节,然后设计与其搭配使用的关节扭矩传感器,最后通过前面两个部件的设计综合,完成单关节机器人的力控制研究即实现人机协作。最后对该模块化关节进行了力控制实验,成功实现了柔顺力控制功能。具体来说就是利用基于力的机器人阻抗控制算法,成功实现了单关节机器人的避碰检测和拖拽式示教,这为以后研发多自由度模块化机器人(6DOF和7DOF)实现人机协作打下了重要的基础。
其他摘要Through the design of the modular joint and the joint torque sensor, the ultimate goal is to achieve the robot's Compliant Force control. So the main research content of this paper includes three aspects, namely, modular joint design, joint torque sensor design and research, single joint force control research. This modular joint is mechanical transmission and drive control integrated modular design, with the internal joint integrated motor, gear, brake, optical encoder, drive. The force control research which based on the single joint focus on the functions which including, drag-and-drop teaching, and collision detection and so on. The main work completed is as follows: (1) According to the weight of the load and the allowable torque reasonable end load structure was designed; (2) Type selection and customization of motor, reducer and brake; (3) Though using the new structure design layout, complete the entire modular joint design; (4) Design of two kinds of joint connecting rod structure; (5) Optimal design of the mechanical structure of the joint torque sensor; (6) Working principle analysis of torque sensor and design of bridge circuit; (7) The design of a single joint force control experiment platform with torque sensor; (8) Design and implementation of drag and drop function which based on impedance control; (9) Experimental design and Realization of the function of collision detection based on impedance control Design ideas in this paper are implemented progressively. Firstly, design a modular robot joint, then a joint torque sensor designed which match with the joint, and at last, through the design of the front two parts, the force control of the single joint robot is completed. Finally, the force control experiment is carried out on the modular joint, and the control function of the compliant force is achieved successfully. Specifically, based on the force of the robot impedance control algorithm, the function of collision detection and drag-and-drop teaching of single joint robot achieve success. Through the multi degree of freedom modular robot (6DOF and 7DOF), the realization of human-computer cooperation has laid an important foundation.
语种中文
产权排序1
文献类型学位论文
条目标识符http://ir.sia.cn/handle/173321/19610
专题其他
作者单位1.中国科学院沈阳自动化研究所
2.中国科学院大学
推荐引用方式
GB/T 7714
盖海松. 机器人模块化关节的研究与实现[D]. 沈阳. 中国科学院沈阳自动化研究所,2016.
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机器人模块化关节的研究与实现.pdf(2827KB)学位论文 开放获取CC BY-NC-SA请求全文
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