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Alternative TitleResearch and realization of Robot Modular Joint
Thesis Advisor徐方
Keyword模块化关节 扭矩传感器 人机协作 阻抗控制
Call NumberTP242/G14/2016
Degree Discipline机械电子工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractThrough 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.
Contribution Rank1
Document Type学位论文
Recommended Citation
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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