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

  更多相關文章： 換擋機械手 機構設計 控制系統(tǒng) 運動學分析 SVM

【摘要】：手動變速器(MT)目前在世界汽車變速器市場中仍然占據(jù)著巨大的市場份額。下線檢測作為變速器生產(chǎn)制造最后也是最重要的一個環(huán)節(jié),擔負著發(fā)現(xiàn)變速器裝配制造缺陷甚至設計缺陷,防止不合格變速器流入市場的任務。隨著國內汽車行業(yè)的快速發(fā)展,變速器生產(chǎn)廠家對全自動下線檢測裝置的需求日益增長。但是,換擋機械手作為下線檢測臺的一個重要組成部分卻一直采用國外通用關節(jié)型機械手,這一點不僅制約了下線檢測臺生產(chǎn)廠家成本控制,而且也限制了臺架功能的拓展。本文依托重慶理工清研凌創(chuàng)測控科技有限公司所生產(chǎn)的手動變速器下線檢測臺,研制了一種替代六自由度關節(jié)型機器人的專用換擋機械手。首先,本文詳細介紹了換擋機械手的國內外研究現(xiàn)狀,結合下線檢測臺上手動變速器換擋實際工況與低成本要求設計了包含有一個旋轉關節(jié)的四自由度直角坐標型機械手手臂。為消除目前用作換擋機械手的六自由度關節(jié)型機器人在測量換擋力矩時存在的附加力矩,本文提出了一種自動對中機械手末端二爪氣缸與變速器換擋搖臂軸兩者旋轉中心線的方法,并根據(jù)此方法設計了機械手末端執(zhí)行機構。根據(jù)上述換擋機械手平臺與末端執(zhí)行機構設計方案與手動變速器實際換擋過程中選換擋力矩要求,選擇并采購了所需的機械零部件與傳感器,最后組裝完成機械手實物。其次,本文根據(jù)機械手結構采用D-H法建立了換擋機械手的連桿變換矩陣,繼而可以求得機械手的運動學方程。由于換擋機械手需要在已知末端執(zhí)行器位姿的情況下求得各個關節(jié)變量的解,本文繼續(xù)求解出換擋機械手的逆運動學解。以上運動學正解與逆解為換擋機械手控制系統(tǒng)中的運動控制控制模塊與自動對中模塊的實現(xiàn)提供了方法與依據(jù),以此可以實現(xiàn)在已知換擋搖臂大概位置情況下,機械手快速移動到其附近為下一步對中任務執(zhí)行做好準備。第三,根據(jù)換擋機械手功能要求,設計其控制系統(tǒng)軟硬件實現(xiàn)方案。根據(jù)該方案選擇并采購控制系統(tǒng)硬件,完成電氣柜中各個電氣原件間的接線工作。為實現(xiàn)控制系統(tǒng)功能,本文采用VB編程語言編寫了控制系統(tǒng)軟件。最后,在實際換擋試驗過程中發(fā)現(xiàn)上述兩旋轉軸線對中過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在小樣本非線性問題中的優(yōu)勢,建立了對中誤差模型并嘗試補償該誤差。
[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.
【學位授予單位】：重慶理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：U468.22;TP241

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