本文關(guān)鍵詞：串聯(lián)彈性驅(qū)動器動力學模型及其特性分析　出處：《哈爾濱工程大學》2012年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 機器人 串聯(lián)彈性驅(qū)動器（SEA） 動力學模型 穩(wěn)定性 能量放大特性

【摘要】：作為一種具有低輸出阻抗的力輸出驅(qū)動裝置，串聯(lián)彈性驅(qū)動器(Series ElasticActuator，SEA)在步行機器人、康復機器人、機械外骨骼以及醫(yī)療輔助器械等領(lǐng)域逐漸被廣泛應用。本論文正是從串聯(lián)彈性驅(qū)動器的廣泛應用前景出發(fā)，著眼于串聯(lián)彈性驅(qū)動器的基礎性研究，展開了以下工作。 首先，建立一種新的SEA動力學模型。針對目前串聯(lián)彈性驅(qū)動器動力學模型的不足本文建立了一種新的SEA動力學模型。以該動力學模型為核心建立了基于速度源驅(qū)動的SEA控制模型，提出了一種力源控制法，建立了力源控制模型，推導出了兩種控制模型開環(huán)和閉環(huán)系統(tǒng)傳遞函數(shù)，進而通過Nyquist圖和Bode圖對系統(tǒng)穩(wěn)定性和動力學模型的控制特性進行分析，，并得到了閉環(huán)系統(tǒng)的諧振峰值、諧振頻率和力輸出帶寬。通過控制與動力學仿真軟件對該模型進行機電一體化系統(tǒng)聯(lián)合仿真得到階躍與變帶寬正弦信號跟蹤響應，最終利用DSpace與已完成的SEA樣機進行實物控制試驗，理論仿真和試驗結(jié)果是一致的，SEA樣機力輸出穩(wěn)定，證明本文所建立模型完全合理。 其次，對SEA能量放大特性進行了研究。由于能量放大特性是SEA所特有的一種特性，有著廣泛的應用前景，因此成為該領(lǐng)域研究重點之一。針對本文建立的新的SEA動力學模型，對SEA的能量放大特性展開了基礎性研究。推導出了新的SEA動力學模型下的能量方程，繪制出了SEA能量輸出曲線，定義了SEA能量放大特性指標（即能量放大峰值、能量放大峰值點、能量放大行程、能量放大行程起始點），分析了SEA能量放大特性指標隨系統(tǒng)參數(shù)（彈簧剛度、傳動機構(gòu)等效質(zhì)量和阻尼）的變化規(guī)律。最后利用Adams對SEA能量放大特性進行了仿真，仿真結(jié)果與理論分析相一致。證明了本文對SEA能量放大特性分析方法和結(jié)果是正確的。
[Abstract]:As a force output drive device with low output impedance, Series Elastic Actuator (SEAA), a series elastic driver, is used in walking robots and rehabilitation robots. Mechanical exoskeleton and medical auxiliary devices have been widely used. This paper focuses on the basic research of series elastic actuator from the perspective of the wide application of series elastic driver. The following work was carried out. First. A new dynamic model of SEA is established, and a new dynamic model of SEA is established in this paper, which is based on velocity source. Driving SEA control model. A force source control method is proposed, and the force source control model is established. The open loop and closed loop system transfer functions of two control models are derived. Then, the control characteristics of the system stability and dynamic model are analyzed by Nyquist diagram and Bode diagram, and the resonance peak of the closed-loop system is obtained. Resonance frequency and force output bandwidth. The step and variable bandwidth sinusoidal signal tracking responses are obtained by the simulation software of control and dynamics. Finally, the physical control experiment with DSpace and completed SEA prototype is carried out. The results of theoretical simulation and test show that the force output of sea prototype is stable, which proves that the model established in this paper is completely reasonable. Secondly, the energy amplification characteristics of SEA are studied. Because energy amplification is a characteristic of SEA, it has a wide application prospect. Therefore, it has become one of the key points in this field. A new SEA kinetic model is established in this paper. The energy amplification characteristics of SEA are studied, the energy equation under the new SEA dynamic model is derived, and the output curve of SEA energy is drawn. The SEA energy amplification characteristic index (i.e. energy amplification peak value, energy amplification peak point, energy amplification stroke, energy amplification stroke start point) is defined. The variation law of SEA energy amplification characteristics with system parameters (spring stiffness, equivalent mass and damping of transmission mechanism) is analyzed. Finally, the energy amplification characteristics of SEA are simulated by Adams. The simulation results are in agreement with the theoretical analysis. It is proved that the method and results of the analysis of SEA energy amplification characteristics are correct in this paper.
【學位授予單位】：哈爾濱工程大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH136

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