混合驅(qū)動式多關(guān)節(jié)雙機械臂運動控制研究
發(fā)布時間：2018-12-28 15:28
【摘要】：氣動人工肌肉是一種新型的拉伸型氣動執(zhí)行元件,具有重量輕、輸出力-直徑比大、柔順性好、類似生物肌肉的特點,在仿生、康復等技術(shù)領(lǐng)域中展現(xiàn)出了良好的應用前景。本論文基于機器人學和現(xiàn)代仿生學,仿照人體上肢結(jié)構(gòu),設(shè)計了一種基于氣動人工肌肉和步進電機混合驅(qū)動的多關(guān)節(jié)雙機械臂,為氣動人工肌肉在仿生機器人中應用探路。 本論文主要完成了多關(guān)節(jié)雙機械臂的機構(gòu)設(shè)計、運動學與動力學建模、控制系統(tǒng)軟硬件設(shè)計、系統(tǒng)建模仿真以及運動控制實驗研究與分析。 首先仿照人體手臂,完成了仿人多關(guān)節(jié)雙機械臂的機構(gòu)設(shè)計。使用氣動人工肌肉驅(qū)動機械臂的肩、肘關(guān)節(jié),步進電機驅(qū)動輔助運動關(guān)節(jié),所設(shè)計的機械臂結(jié)構(gòu)上兼具柔順性和緊湊性;同時,根據(jù)機器人學,完成了多關(guān)節(jié)雙機械臂結(jié)構(gòu)的運動學和動力學建模,包括完備的位姿方程正、逆解,速度雅可比矩陣和動力學方程。 然后,在前人研究的基礎(chǔ)上,結(jié)合多關(guān)節(jié)雙機械臂動力學方程,借助Matlab/Simulink工具,完成系統(tǒng)模型的搭建,并在此基礎(chǔ)上研究比較了常規(guī)PID和模糊自適應整定PID對肩關(guān)節(jié)的控制效果,完成了兩種控制策略的仿真分析。仿真結(jié)果表明模糊自適應整定PID能夠有效抑制關(guān)節(jié)角度偏差,提高響應速度和系統(tǒng)穩(wěn)定性。 最后,完成多關(guān)節(jié)雙機械臂整套樣機的軟硬件開發(fā),并在此樣機的基礎(chǔ)上進行了運動控制實驗研究。通過實驗,分析比較了常規(guī)PID和模糊自適應整定PID的控制效果。實驗證明了模糊自適應整定PID控制下,多關(guān)節(jié)雙機械臂串行、并行運動以及協(xié)調(diào)運動時,每個關(guān)節(jié)均具有較好定位精度和響應速度。 本論文實驗研究為仿生機器人的進一步研究提供了實踐參考。
[Abstract]:Pneumatic artificial muscle is a new type of stretching pneumatic actuator with light weight, large ratio of output force to diameter, good flexibility and similar to biological muscle. It has shown a good application prospect in bionics, rehabilitation and other technical fields. In this paper, based on robotics and modern bionics, and imitating the structure of human upper limb, a kind of multi-joint double manipulator driven by pneumatic artificial muscle and stepping motor is designed, which can be used to explore the application of pneumatic artificial muscle in bionic robot. In this paper, the mechanism design, kinematics and dynamics modeling, hardware and software design of control system, system modeling and simulation, and the research and analysis of motion control experiment are completed. At first, the mechanism design of humanoid multi-joint double manipulator is completed, which mimics the human arm. The pneumatic artificial muscle is used to drive the shoulder and elbow joints of the manipulator and the stepper motor to drive the auxiliary motion joints. The designed arm has both flexibility and compactness in structure. At the same time, the kinematics and dynamics modeling of the multi-joint dual-manipulator structure is completed according to robotics, including the complete forward and inverse solutions of the pose equation, the velocity Jacobian matrix and the dynamic equation. Then, on the basis of previous studies, combined with the dynamics equation of multi-joint and dual-manipulator, the system model was built by Matlab/Simulink tool. On this basis, the control effect of conventional PID and fuzzy adaptive tuning PID on shoulder joint is studied and compared, and the simulation analysis of two control strategies is completed. The simulation results show that the fuzzy adaptive tuning PID can effectively suppress the angle deviation of joints and improve the response speed and system stability. Finally, the software and hardware development of the whole prototype is completed, and the motion control experiment is carried out on the basis of the prototype. Through experiments, the control effects of conventional PID and fuzzy adaptive tuning PID are analyzed and compared. It is proved by experiments that each joint has better positioning accuracy and response speed under fuzzy adaptive tuning PID control when multi-joint dual manipulator moves in serial parallel and coordinated motion. The experimental research in this paper provides a practical reference for the further research of bionic robot.
【學位授予單位】：上海交通大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH138.5
本文編號：2394126
[Abstract]:Pneumatic artificial muscle is a new type of stretching pneumatic actuator with light weight, large ratio of output force to diameter, good flexibility and similar to biological muscle. It has shown a good application prospect in bionics, rehabilitation and other technical fields. In this paper, based on robotics and modern bionics, and imitating the structure of human upper limb, a kind of multi-joint double manipulator driven by pneumatic artificial muscle and stepping motor is designed, which can be used to explore the application of pneumatic artificial muscle in bionic robot. In this paper, the mechanism design, kinematics and dynamics modeling, hardware and software design of control system, system modeling and simulation, and the research and analysis of motion control experiment are completed. At first, the mechanism design of humanoid multi-joint double manipulator is completed, which mimics the human arm. The pneumatic artificial muscle is used to drive the shoulder and elbow joints of the manipulator and the stepper motor to drive the auxiliary motion joints. The designed arm has both flexibility and compactness in structure. At the same time, the kinematics and dynamics modeling of the multi-joint dual-manipulator structure is completed according to robotics, including the complete forward and inverse solutions of the pose equation, the velocity Jacobian matrix and the dynamic equation. Then, on the basis of previous studies, combined with the dynamics equation of multi-joint and dual-manipulator, the system model was built by Matlab/Simulink tool. On this basis, the control effect of conventional PID and fuzzy adaptive tuning PID on shoulder joint is studied and compared, and the simulation analysis of two control strategies is completed. The simulation results show that the fuzzy adaptive tuning PID can effectively suppress the angle deviation of joints and improve the response speed and system stability. Finally, the software and hardware development of the whole prototype is completed, and the motion control experiment is carried out on the basis of the prototype. Through experiments, the control effects of conventional PID and fuzzy adaptive tuning PID are analyzed and compared. It is proved by experiments that each joint has better positioning accuracy and response speed under fuzzy adaptive tuning PID control when multi-joint dual manipulator moves in serial parallel and coordinated motion. The experimental research in this paper provides a practical reference for the further research of bionic robot.
【學位授予單位】：上海交通大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH138.5
【參考文獻】
相關(guān)期刊論文 前10條
1 高志軍,顏國正,丁國清,顏德田,陳忠澤;多機器人協(xié)調(diào)與合作系統(tǒng)的研究現(xiàn)狀和發(fā)展[J];光學精密工程;2001年02期
2 施光林,鐘廷修;高速電磁開關(guān)閥的研究與應用[J];機床與液壓;2001年02期
3 范偉,彭光正,黃雨;氣動人工肌肉驅(qū)動器的研究現(xiàn)狀及發(fā)展趨勢[J];機床與液壓;2003年01期
4 衛(wèi)玉芬,李小寧;氣動人工肌肉的進展和應用[J];機床與液壓;2003年01期
5 臧克江,顧立志,陶國良;氣動人工肌肉研究與展望[J];機床與液壓;2004年04期
6 吉愛紅,戴振東,周來水;仿生機器人的研究進展[J];機器人;2005年03期
7 應申舜;秦現(xiàn)生;任振國;馮華山;王戰(zhàn)璽;;基于人工肌肉的機器人驅(qū)動關(guān)節(jié)設(shè)計與研究[J];機器人;2008年02期
8 李寶仁,劉軍,楊鋼;氣動人工肌肉系統(tǒng)建模與仿真[J];機械工程學報;2003年07期
9 施光林,周愛國,鐘廷修,呂剛;氣動人工肌肉與標準氣缸的力特性比較[J];上海交通大學學報;2004年08期
10 何國昆;劉吉軒;張振營;;氣動人工肌肉的動態(tài)驅(qū)動特性研究[J];西安交通大學學報;2008年05期
相關(guān)博士學位論文 前1條
1 楊鋼;氣動人工肌肉位置伺服系統(tǒng)研究及其應用[D];華中科技大學;2004年
相關(guān)碩士學位論文 前2條
1 安育紅;氣動機械手關(guān)節(jié)的研究[D];浙江大學;2007年
2 洪熠;基于氣動人工肌肉仿人機械手臂肩關(guān)節(jié)的運動控制[D];上海交通大學;2009年
，本文編號：2394126
本文鏈接：http://sikaile.net/kejilunwen/jixiegongcheng/2394126.html
最近更新
教材專著
