本文選題：氣動助力　切入點：伺服電機　出處：《哈爾濱工業(yè)大學》2017年碩士論文　論文類型：學位論文

【摘要】：制造業(yè)是國民經濟主體,是立國之器、強國之基。隨著“中國制造2025”的加快部署,制造業(yè)產業(yè)結構正在發(fā)生轉變,工業(yè)機器人在搬運、噴涂、焊接、包裝自動化生產線業(yè)已應用廣泛。在搬運機器人領域,特別是重載應用領域,由于控制策略和機械結構設計缺陷,往往精度不高。為了豐富搬運機器人研究,提高搬運安裝精度,本課題考慮到氣動系統(tǒng)具有出力大、氣源潔凈易獲取、防燃防爆的優(yōu)點,在主要承載關節(jié)添加氣動助力平衡負載,同時用交流伺服電機保持較高位置控制精度,并安裝視覺、激光測距傳感器輔助搬運進一步提高安裝精度和作業(yè)自動化水平。本文從氣動助力實驗系統(tǒng)的結構設計開始研究工作,結合項目設計指標要求,完成實驗系統(tǒng)6個基本自由度加3個微調自由度的機構設計與校核,并完成電控系統(tǒng)的選型工作。同時建立實驗系統(tǒng)連桿坐標系并以此為基礎進行運動學、動力學仿真,驗證前期設計合理性,完成硬件層面的設計工作并為后續(xù)仿真與實驗研究做基礎鋪墊工作。針對視覺傳感器和激光測距傳感器的加入設計安裝工序,保證末端執(zhí)行器對于工件位姿的控制能夠對兩種傳感器獲取的信息高效合理利用;研究激光測距傳感器定位配置方法并著重對機器視覺領域相關理論進行研究,確定傳感器型號與配置方式,簡化CCD圖像傳感器成像模型以對其進行視覺系統(tǒng)標定,把利用機器視覺傳感器和激光測距傳感器獲取的測量信息進行末端參考點定位歸結到運動學層面進行理論推導得到相應的用于實際控制的位姿變換矩陣,賦予助力設備初步獲得感知外界環(huán)境的能力。充分研究設備工作原理,根據關鍵部件數學模型和Pro/E三維虛擬模型,借助Matlab/Simulink和ADAMS分別搭建助力實驗設備仿真模型,首先利用ADAMS運動模型對實驗系統(tǒng)進行運動學、動力學仿真,并根據實際工況抽象出三條典型軌跡進行規(guī)劃,得到各關節(jié)轉角變化規(guī)律,比較分析結果研究不同軌跡不同安裝角度姿態(tài)情況下助力設備的跟蹤性能;設置軟件接口進行Similink/ADAMS聯合仿真,以上述軌跡規(guī)劃結果為參照對變壓力重力補償控制器和交流伺服電機定位控制策略的實用性能進行虛擬樣機聯合仿真驗證。最后搭建氣動助力實驗臺進行調試,對前面的理論研究工作做實踐研究。介紹了實驗臺工作原理,并針對末端軌跡跟蹤效果和微調進給性能進行實驗驗證。實驗結果表面,本課題設計的氣動助力實驗系統(tǒng)滿足項目設計指標要求。
[Abstract]:The manufacturing industry is the main body of the national economy, the weapon that founded the country and the foundation of the powerful country. With the accelerated deployment of "made in China 2025", the industrial structure of the manufacturing industry is changing, and industrial robots are moving, spraying and welding. Packaging automation production line has been widely used. In the field of handling robot, especially in the field of heavy-duty application, because of the control strategy and mechanical structure design defects, the precision is often not high. In order to improve the accuracy of handling and installation, this subject considers that pneumatic system has the advantages of large force, clean and easy to obtain, and anti-combustion and explosion-proof, adding pneumatic aid to balance load in the main bearing joints. At the same time, using AC servo motor to maintain high position control accuracy, and install vision, Laser ranging sensor assisted handling can further improve the installation accuracy and automation level. This paper starts with the structure design of the pneumatic power experimental system and combines with the project design requirements. The mechanism design and verification of 6 basic degrees of freedom and 3 fine tuning degrees of freedom of the experimental system are completed, and the selection of the electronic control system is completed. At the same time, the coordinate system of the experimental system is established and the kinematics and dynamics simulation is carried out on the basis of the coordinate system. Verify the rationality of the previous design, complete the hardware level of the design and do the foundation for the subsequent simulation and experimental research. For the visual sensor and laser ranging sensor design and installation process, To ensure that the end effector can control the position and orientation of the workpiece, the information obtained by the two sensors can be used efficiently and reasonably; the location and configuration method of the laser ranging sensor is studied and the related theories in the field of machine vision are studied emphatically. Determine the sensor type and configuration, simplify the imaging model of CCD image sensor to carry out visual system calibration, The terminal reference point location obtained by the machine vision sensor and the laser ranging sensor is reduced to kinematics and the corresponding position and pose transformation matrix for practical control is obtained. This paper gives the booster equipment the ability to perceive the external environment preliminarily. Based on the mathematical model of key components and the three-dimensional virtual model of Pro/E, the simulation model of the booster experimental equipment is built by means of Matlab/Simulink and ADAMS, according to the mathematical model of the key component and the three-dimensional virtual model of Pro/E. Firstly, the kinematics and dynamics of the experimental system are simulated by using the ADAMS motion model, and three typical trajectories are abstracted according to the actual working conditions, and the changing law of the angle of each joint is obtained. The results of comparative analysis are used to study the tracking performance of the booster equipment with different trajectory and different installation angle and attitude, and the software interface is set up for Similink/ADAMS joint simulation. According to the above trajectory planning results, the practical performance of the variable pressure gravity compensation controller and the AC servo motor positioning control strategy is verified by virtual prototype simulation. Finally, a pneumatic aid experiment bench is built for debugging. The working principle of the experimental bench is introduced, and the tracking effect of the end trajectory and the performance of fine tuning feed are verified experimentally. The pneumatic booster experimental system designed in this paper meets the requirements of the project design index.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TH138;TP242.2

【相似文獻】

相關期刊論文 前10條

1 俞知恩,王珂,俞泉;由圖象估算測距傳感器的相對位移[J];儀器儀表學報;1997年04期

2 陸興旺;孫承斌;;高溫激光測距傳感器自動防護門設計[J];機械工程師;2012年06期

3 薛尚文;洪嘯虎;黃鎳;焦志鑫;;關于地下金屬測距傳感器的研究[J];機械制造與自動化;2012年04期

4 臧德鴻 ,邵其捚 ,神承復 ,胡瑞娟;β射線測距傳感器的研制[J];原子能科學技術;1979年01期

5 譚定忠;王啟明;王葉蘭;何干輝;喬鋒華;;機器人測距傳感器的研究[J];機械與電子;2005年12期

6 王守杰;韓飛坡;;高溫激光測距傳感器推拉式自動防護門的設計[J];機械工程師;2013年03期

7 華克強,高淑玲,朱齊丹;小功率超聲波測距傳感器[J];儀表技術與傳感器;1991年02期

8 邢武,王國泰,葛運建;激光測距傳感器的設計與研制[J];儀表技術與傳感器;1996年07期

9 朱景偉,李文舉,王素珍;電渦流測距傳感器信號的微機處理[J];遼寧工學院學報;1994年04期

10 羅進生,張永俊;末端軌跡指定的機器人最優(yōu)二次軌跡規(guī)劃[J];機床與液壓;2002年03期

相關會議論文 前10條

1 ;氣動教學實驗臺簡介[A];中國機械工程學會流體傳動與控制分會——第三屆全國流體傳動及控制學術會議大會交流論文集[C];2004年

2 ;氣動教學實驗臺簡介[A];第三屆全國流體傳動及控制學術會議大會交流論文集[C];2004年

3 張國偉;李斌;鄭懷兵;龔海里;王聰;;乒乓球靈巧機械臂軌跡規(guī)劃[A];第九屆全國信息獲取與處理學術會議論文集Ⅰ[C];2011年

4 楊淮清;金蘭;;基于動作基元的行走軌跡規(guī)劃及其在原地轉向型機器人中的應用[A];2006中國控制與決策學術年會論文集[C];2006年

5 劉婷婷;譚_g;吳剛;王書茂;;基于Lab Windows/CVI的汽車轉鼓實驗臺測控系統(tǒng)的設計[A];第三屆全國虛擬儀器大會論文集[C];2008年

6 張濤;李則婷;陳善本;;移動焊接機器人軌跡規(guī)劃[A];第十六次全國焊接學術會議論文摘要集[C];2011年

7 吳繁;潘煉;;工業(yè)機器人單目雙視的應用研究[A];中國計量協會冶金分會2009年年會論文集[C];2009年

8 江衛(wèi)華;;工控機與交流伺服電機脈沖接口的實現[A];第一屆變頻器與伺服企業(yè)論壇論文集[C];2003年

9 ;工業(yè)機器人[A];日本機械學會技術路線圖[C];2008年

10 羅t，

本文編號：1636476