本文選題：內(nèi)窺式工具 + 柔性機(jī)械臂�。� 參考：《電子科技大學(xué)》2012年碩士論文

【摘要】：內(nèi)窺技術(shù)在醫(yī)學(xué)上是一種先進(jìn)而有效的無(wú)損或微創(chuàng)診療手段；在工業(yè)上也是一種應(yīng)用極廣的無(wú)損檢測(cè)手段，常用于探查人造腔穴、管道、容器內(nèi)壁以及各種組合體內(nèi)部的結(jié)構(gòu)和工況。倘若賦予內(nèi)窺式工具一定的機(jī)械加工能力，那么就可以在不拆解不破壞被測(cè)物的前提下，直接對(duì)其內(nèi)部缺陷（如破損、裂紋、毛刺等）進(jìn)行修復(fù)處理，將“檢”與“修”合為一步完成，并去掉“拆”和“裝”這兩個(gè)費(fèi)時(shí)費(fèi)力的無(wú)用功環(huán)節(jié)，將無(wú)損檢測(cè)與修復(fù)徹底整合起來(lái)。 材料去除量是機(jī)械加工過(guò)程中最重要的指標(biāo)之一。以打磨修復(fù)噴氣式引擎渦輪葉片上的一處細(xì)裂紋為例，為確保修復(fù)后的渦輪能在高速旋轉(zhuǎn)時(shí)保持平衡，須精確獲知修復(fù)過(guò)程中所去除材料的質(zhì)量。然而在柔性?xún)?nèi)窺式工具的工作姿態(tài)和受力均未知的情況下，很難準(zhǔn)確地計(jì)算出加工過(guò)程中的材料去除量。同時(shí)，柔性?xún)?nèi)窺式工具能否有效抑制材料去除過(guò)程中的有害振動(dòng)也是決定它能否勝任修復(fù)任務(wù)的關(guān)鍵因素之一。 本文正是針對(duì)上述問(wèn)題，以一款含有微型柔性機(jī)械臂結(jié)構(gòu)的內(nèi)窺式加工工具（在PENTAX ES-3801醫(yī)用內(nèi)窺鏡基礎(chǔ)上改造而來(lái)）為主要研究對(duì)象，以假想的噴氣式引擎渦輪葉片裂紋修復(fù)作為內(nèi)窺式（研磨）加工的主要應(yīng)用場(chǎng)景，在深入分析柔性機(jī)械臂的機(jī)械結(jié)構(gòu)和運(yùn)動(dòng)學(xué)特性的基礎(chǔ)上，對(duì)其在靜力平衡條件下的工作姿態(tài)和加工作用力，以及加工時(shí)的動(dòng)態(tài)穩(wěn)定性和材料去除量的測(cè)量、估計(jì)和預(yù)測(cè)做了創(chuàng)新性和探索性的研究。主要內(nèi)容為： 1.為獲取柔性機(jī)械臂的工作姿態(tài)，研究了現(xiàn)有的運(yùn)動(dòng)姿態(tài)測(cè)量技術(shù)和系統(tǒng)的特點(diǎn)與不足，提出并搭建了基于機(jī)器視覺(jué)的可見(jiàn)光非侵入式運(yùn)動(dòng)姿態(tài)實(shí)時(shí)測(cè)量系統(tǒng)。針對(duì)可見(jiàn)光中的高光干擾，提出了一種改進(jìn)的色鍵過(guò)濾補(bǔ)償算法以提高該系統(tǒng)在非理想光照條件下的測(cè)量精度。使用二維相機(jī)校準(zhǔn)樣本對(duì)該測(cè)量系統(tǒng)的光路誤差進(jìn)行了校準(zhǔn)并對(duì)其測(cè)量精度進(jìn)行了評(píng)估。結(jié)果表明該系統(tǒng)在150mm見(jiàn)方的視場(chǎng)中的二維測(cè)量精度優(yōu)于1mm；在同時(shí)跟蹤15個(gè)運(yùn)動(dòng)目標(biāo)時(shí)，系統(tǒng)的采樣率可達(dá)25～30fps，達(dá)到了預(yù)期的測(cè)量需求。使用該系統(tǒng)測(cè)量了機(jī)械臂的運(yùn)動(dòng)姿態(tài)，并將測(cè)量結(jié)果作為后續(xù)研究的參照和驗(yàn)證標(biāo)準(zhǔn)。 2.由于受到微型柔性機(jī)械臂自身尺寸以及工作環(huán)境的限制，在內(nèi)窺式加工過(guò)程中無(wú)法通過(guò)現(xiàn)有方法和技術(shù)對(duì)機(jī)械臂的工作姿態(tài)進(jìn)行直接測(cè)量。在詳細(xì)研究機(jī)械臂的結(jié)構(gòu)和運(yùn)動(dòng)學(xué)特性對(duì)其工作姿態(tài)的影響后，建立了自由條件下和靜力平衡條件下的機(jī)械臂運(yùn)動(dòng)姿態(tài)估計(jì)模型和作用力估計(jì)模型，并提出了一種基于模型的間接測(cè)量方法，，將確定機(jī)械臂運(yùn)動(dòng)姿態(tài)所需的十個(gè)參變量減化為兩個(gè)，并通過(guò)一個(gè)LVDT位移傳感器和一個(gè)微型載荷傳感器測(cè)出。通過(guò)實(shí)驗(yàn)對(duì)模型的輸出精度進(jìn)行了評(píng)估。結(jié)果顯示在常工作空間內(nèi)，機(jī)械臂位置估計(jì)誤差小于2mm，角度估計(jì)誤差在±4°以?xún)?nèi)。在1～6N范圍內(nèi)，作用力估計(jì)誤差小于0.5N。 3.研究了微型柔性機(jī)械臂的動(dòng)力學(xué)特性。利用再生理論和穩(wěn)定性葉瓣圖對(duì)內(nèi)窺式加工過(guò)程中可能出現(xiàn)的顫振現(xiàn)象進(jìn)行了分析。提出了一個(gè)可用于在線式振動(dòng)自動(dòng)檢測(cè)的相對(duì)能量指標(biāo)R。利用該指標(biāo)可以發(fā)現(xiàn)內(nèi)窺式研磨過(guò)程中的早期振動(dòng)。實(shí)驗(yàn)結(jié)果表明，R指標(biāo)對(duì)加工過(guò)程中的振動(dòng)現(xiàn)象有著非常高的辨識(shí)靈敏度，對(duì)于穩(wěn)定工作時(shí)的加工參數(shù)變化卻不敏感，具有較好的魯棒性。 4.研究了柔性?xún)?nèi)窺式研磨加工過(guò)程中的能量分配和損耗，通過(guò)加工比能耗建立了材料去除量的分析經(jīng)驗(yàn)估計(jì)模型。通過(guò)實(shí)驗(yàn)數(shù)據(jù)確定了該模型中的待定系數(shù)。并通過(guò)另兩組獨(dú)立加工實(shí)驗(yàn)驗(yàn)證了該模型的可重復(fù)性和輸出精度。實(shí)驗(yàn)結(jié)果表明該模型輸出的估計(jì)值與實(shí)際稱(chēng)量值的變化趨勢(shì)吻合，平均相對(duì)誤差約為22%。 綜上所述，本文提出了對(duì)具有柔性機(jī)械臂結(jié)構(gòu)的內(nèi)窺式工具在機(jī)械加工過(guò)程中的工作姿態(tài)、作用力以及材料去除量進(jìn)行定量估計(jì)的方法，估計(jì)結(jié)果具有合理的精度。該結(jié)果證明內(nèi)窺式工具可以被應(yīng)用到機(jī)械加工作業(yè)中。在突破了運(yùn)動(dòng)自由度耦合以及加工動(dòng)力傳遞等技術(shù)障礙后，（柔性）內(nèi)窺式工具將成為一種非常有效的無(wú)損（檢測(cè)）加工手段。
[Abstract]:endoscopic technology is an advanced and effective means of non - invasive or minimally invasive diagnosis and treatment in medicine ;
In the industry , it is also a kind of nondestructive testing method which is widely used in probing artificial cavity , pipeline , inner wall of container and internal structure and working condition of various combinations . If the endoscopic tool is endowed with certain mechanical processing capacity , it can repair the internal defects ( such as breakage , crack , burr , etc . ) directly without breaking the object under test .

The removal of material is one of the most important indexes in the machining process . In order to ensure that the repaired turbine can keep balance during high - speed rotation , it is difficult to accurately calculate the amount of material removed during the process . However , it is difficult to accurately calculate the amount of material removed during the process .

In view of the above problems , an endoscopic tool ( modified on PENTAX ES - 3801 medical endoscope ) containing micro flexible mechanical arm structure is used as the main research object . Based on the analysis of the mechanical structure and kinematic characteristics of flexible manipulator , the working attitude and processing force of flexible manipulator are analyzed in depth , and the dynamic stability and material removal amount are measured , estimated and predicted . The main contents are as follows :

1 . In order to obtain the working attitude of flexible manipulator , a real - time measurement system of visible light non - invasive motion attitude based on machine vision is put forward and a real - time measurement system of visible light non - invasive motion attitude based on machine vision is put forward .
When tracking 15 moving targets simultaneously , the sampling rate of the system can reach 25 - 30 fps , and the expected measurement demand is achieved . The motion posture of the robot arm is measured by using the system , and the measurement result is taken as the reference and verification standard of the subsequent study .

2 . The mechanical arm motion attitude estimation model and the force estimation model can not be directly measured by the existing methods and techniques because of the size of the micro flexible robot arm and the limitation of the working environment . After the influence of the structure and the kinematic characteristics of the mechanical arm on the working attitude of the robot arm is studied in detail , ten reference variables required to determine the motion posture of the robot arm are reduced to two , and the output accuracy of the model is evaluated through an experiment . The result shows that the error of the position estimation of the mechanical arm is less than 2mm and the angle estimation error is within 鹵 4 擄 . The force estimation error is less than 0.5N in the range of 1 to 6 N .

3 . The dynamic characteristics of micro - flexible manipulator are studied . A relative energy index ( R ) which can be used in the auto - detection of on - line vibration is presented . The results show that the R - index has very high recognition sensitivity to the vibration phenomenon in machining process .

4 . The energy distribution and loss in the flexible endoscopic grinding process are studied . The empirical estimation model of material removal is established by processing specific energy consumption . The accuracy of the model is determined by the experimental data . The results show that the estimated value of the model is consistent with the change trend of the actual nominal value , and the average relative error is about 22 % .

In conclusion , this paper presents a method to estimate the working attitude , the force and the amount of material removal in the machining process of the endoscopic tool with flexible mechanical arm structure . The result shows that the endoscopic tool can be applied to the machining operation . After breaking through the technical obstacles such as the coupling of the motion degree of freedom and the transmission of the processing power , the ( flexible ) endoscopic tool will become a very effective nondestructive ( detection ) processing means .
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH878;TH16

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本文編號(hào)：1983116