本文關(guān)鍵詞：基于支持向量機(jī)逆系統(tǒng)方法的柔順機(jī)械手研究　出處：《重慶理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 換擋機(jī)械手 機(jī)構(gòu)設(shè)計(jì) 控制系統(tǒng) 運(yùn)動(dòng)學(xué)分析 SVM

【摘要】：手動(dòng)變速器(MT)目前在世界汽車變速器市場(chǎng)中仍然占據(jù)著巨大的市場(chǎng)份額。下線檢測(cè)作為變速器生產(chǎn)制造最后也是最重要的一個(gè)環(huán)節(jié),擔(dān)負(fù)著發(fā)現(xiàn)變速器裝配制造缺陷甚至設(shè)計(jì)缺陷,防止不合格變速器流入市場(chǎng)的任務(wù)。隨著國(guó)內(nèi)汽車行業(yè)的快速發(fā)展,變速器生產(chǎn)廠家對(duì)全自動(dòng)下線檢測(cè)裝置的需求日益增長(zhǎng)。但是,換擋機(jī)械手作為下線檢測(cè)臺(tái)的一個(gè)重要組成部分卻一直采用國(guó)外通用關(guān)節(jié)型機(jī)械手,這一點(diǎn)不僅制約了下線檢測(cè)臺(tái)生產(chǎn)廠家成本控制,而且也限制了臺(tái)架功能的拓展。本文依托重慶理工清研凌創(chuàng)測(cè)控科技有限公司所生產(chǎn)的手動(dòng)變速器下線檢測(cè)臺(tái),研制了一種替代六自由度關(guān)節(jié)型機(jī)器人的專用換擋機(jī)械手。首先,本文詳細(xì)介紹了換擋機(jī)械手的國(guó)內(nèi)外研究現(xiàn)狀,結(jié)合下線檢測(cè)臺(tái)上手動(dòng)變速器換擋實(shí)際工況與低成本要求設(shè)計(jì)了包含有一個(gè)旋轉(zhuǎn)關(guān)節(jié)的四自由度直角坐標(biāo)型機(jī)械手手臂。為消除目前用作換擋機(jī)械手的六自由度關(guān)節(jié)型機(jī)器人在測(cè)量換擋力矩時(shí)存在的附加力矩,本文提出了一種自動(dòng)對(duì)中機(jī)械手末端二爪氣缸與變速器換擋搖臂軸兩者旋轉(zhuǎn)中心線的方法,并根據(jù)此方法設(shè)計(jì)了機(jī)械手末端執(zhí)行機(jī)構(gòu)。根據(jù)上述換擋機(jī)械手平臺(tái)與末端執(zhí)行機(jī)構(gòu)設(shè)計(jì)方案與手動(dòng)變速器實(shí)際換擋過(guò)程中選換擋力矩要求,選擇并采購(gòu)了所需的機(jī)械零部件與傳感器,最后組裝完成機(jī)械手實(shí)物。其次,本文根據(jù)機(jī)械手結(jié)構(gòu)采用D-H法建立了換擋機(jī)械手的連桿變換矩陣,繼而可以求得機(jī)械手的運(yùn)動(dòng)學(xué)方程。由于換擋機(jī)械手需要在已知末端執(zhí)行器位姿的情況下求得各個(gè)關(guān)節(jié)變量的解,本文繼續(xù)求解出換擋機(jī)械手的逆運(yùn)動(dòng)學(xué)解。以上運(yùn)動(dòng)學(xué)正解與逆解為換擋機(jī)械手控制系統(tǒng)中的運(yùn)動(dòng)控制控制模塊與自動(dòng)對(duì)中模塊的實(shí)現(xiàn)提供了方法與依據(jù),以此可以實(shí)現(xiàn)在已知換擋搖臂大概位置情況下,機(jī)械手快速移動(dòng)到其附近為下一步對(duì)中任務(wù)執(zhí)行做好準(zhǔn)備。第三,根據(jù)換擋機(jī)械手功能要求,設(shè)計(jì)其控制系統(tǒng)軟硬件實(shí)現(xiàn)方案。根據(jù)該方案選擇并采購(gòu)控制系統(tǒng)硬件,完成電氣柜中各個(gè)電氣原件間的接線工作。為實(shí)現(xiàn)控制系統(tǒng)功能,本文采用VB編程語(yǔ)言編寫了控制系統(tǒng)軟件。最后,在實(shí)際換擋試驗(yàn)過(guò)程中發(fā)現(xiàn)上述兩旋轉(zhuǎn)軸線對(duì)中過(guò)程完成后始終有較大的殘余夾角。在分析原因后,本文利用支持向量機(jī)在小樣本非線性問(wèn)題中的優(yōu)勢(shì),建立了對(duì)中誤差模型并嘗試補(bǔ)償該誤差。
[Abstract]:Manual transmission (MTT) still occupies a huge market share in the world automobile transmission market. As the last and most important link of transmission manufacturing, off-line detection is the last and most important part. With the rapid development of domestic automobile industry, it is a task to find the defect of assembly and manufacture of transmission and even to prevent the unqualified transmission from flowing into the market. The demand of transmission manufacturers for automatic downline detection equipment is increasing. However, as an important part of the off-line testing platform, the shift manipulator has been using foreign common joint manipulator. This not only restricts the cost control of the manufacturers. And it also limits the development of the bench function. This paper relies on the manual transmission downline test platform produced by Chongqing Science and Technology Company of Qingyan Lingchuang Measurement and Control Technology Co., Ltd. A special shift manipulator is developed to replace the six degree of freedom joint robot. Firstly, this paper introduces the research status of shift manipulator at home and abroad in detail. Combined with the actual working conditions and low cost requirements of the manual transmission shift on the downline detection platform, a four-degree-of-freedom Cartesian manipulator arm containing a rotating joint is designed. In order to eliminate the six degrees of freedom currently used as the shift manipulator, the arm of the manipulator with four degrees of freedom is designed. The additional torque of joint robot in measuring shift torque. This paper presents a method of rotating centerline between the two claw cylinder at the end of the automatic alignment manipulator and the shift rocker shaft of the transmission. According to this method, the end actuators of the manipulator are designed. According to the design scheme of the platform and the end actuators of the shift manipulator and the requirements of the shifting torque in the actual shift process of the manual transmission. The necessary mechanical parts and sensors were selected and purchased, and finally assembled to complete the manipulator. Secondly, according to the structure of the manipulator, D-H method was used to establish the linkage transformation matrix of the shift manipulator. Then the kinematics equation of the manipulator can be obtained. Because the shift manipulator needs to obtain the solution of each joint variable under the condition that the position and orientation of the terminal actuator is known. This paper continues to solve the inverse kinematics solution of the shift manipulator. The above kinematics forward and inverse solutions provide a method and basis for the realization of the motion control module and the automatic alignment module in the gear shift manipulator control system. In this way, the manipulator can move quickly to the vicinity of the shift rocker arm to prepare for the next task execution. Thirdly, according to the functional requirements of the shift manipulator. The hardware and software implementation scheme of the control system is designed. According to this scheme, the hardware of the control system is selected and purchased, and the wiring between the electrical components in the electric gas cabinet is completed. In order to realize the function of the control system. In this paper, the control system software is programmed with VB programming language. Finally, in the actual shift test process, it is found that there is always a large residual angle after the completion of the above two rotation axis alignment. In this paper, the support vector machine (SVM) is used to solve the nonlinear problem with small samples.
【學(xué)位授予單位】：重慶理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U468.22;TP241

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