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

【摘要】：制造業(yè)是國(guó)民經(jīng)濟(jì)主體,是立國(guó)之器、強(qiáng)國(guó)之基。隨著“中國(guó)制造2025”的加快部署,制造業(yè)產(chǎn)業(yè)結(jié)構(gòu)正在發(fā)生轉(zhuǎn)變,工業(yè)機(jī)器人在搬運(yùn)、噴涂、焊接、包裝自動(dòng)化生產(chǎn)線業(yè)已應(yīng)用廣泛。在搬運(yùn)機(jī)器人領(lǐng)域,特別是重載應(yīng)用領(lǐng)域,由于控制策略和機(jī)械結(jié)構(gòu)設(shè)計(jì)缺陷,往往精度不高。為了豐富搬運(yùn)機(jī)器人研究,提高搬運(yùn)安裝精度,本課題考慮到氣動(dòng)系統(tǒng)具有出力大、氣源潔凈易獲取、防燃防爆的優(yōu)點(diǎn),在主要承載關(guān)節(jié)添加氣動(dòng)助力平衡負(fù)載,同時(shí)用交流伺服電機(jī)保持較高位置控制精度,并安裝視覺、激光測(cè)距傳感器輔助搬運(yùn)進(jìn)一步提高安裝精度和作業(yè)自動(dòng)化水平。本文從氣動(dòng)助力實(shí)驗(yàn)系統(tǒng)的結(jié)構(gòu)設(shè)計(jì)開始研究工作,結(jié)合項(xiàng)目設(shè)計(jì)指標(biāo)要求,完成實(shí)驗(yàn)系統(tǒng)6個(gè)基本自由度加3個(gè)微調(diào)自由度的機(jī)構(gòu)設(shè)計(jì)與校核,并完成電控系統(tǒng)的選型工作。同時(shí)建立實(shí)驗(yàn)系統(tǒng)連桿坐標(biāo)系并以此為基礎(chǔ)進(jìn)行運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)仿真,驗(yàn)證前期設(shè)計(jì)合理性,完成硬件層面的設(shè)計(jì)工作并為后續(xù)仿真與實(shí)驗(yàn)研究做基礎(chǔ)鋪墊工作。針對(duì)視覺傳感器和激光測(cè)距傳感器的加入設(shè)計(jì)安裝工序,保證末端執(zhí)行器對(duì)于工件位姿的控制能夠?qū)煞N傳感器獲取的信息高效合理利用;研究激光測(cè)距傳感器定位配置方法并著重對(duì)機(jī)器視覺領(lǐng)域相關(guān)理論進(jìn)行研究,確定傳感器型號(hào)與配置方式,簡(jiǎn)化CCD圖像傳感器成像模型以對(duì)其進(jìn)行視覺系統(tǒng)標(biāo)定,把利用機(jī)器視覺傳感器和激光測(cè)距傳感器獲取的測(cè)量信息進(jìn)行末端參考點(diǎn)定位歸結(jié)到運(yùn)動(dòng)學(xué)層面進(jìn)行理論推導(dǎo)得到相應(yīng)的用于實(shí)際控制的位姿變換矩陣,賦予助力設(shè)備初步獲得感知外界環(huán)境的能力。充分研究設(shè)備工作原理,根據(jù)關(guān)鍵部件數(shù)學(xué)模型和Pro/E三維虛擬模型,借助Matlab/Simulink和ADAMS分別搭建助力實(shí)驗(yàn)設(shè)備仿真模型,首先利用ADAMS運(yùn)動(dòng)模型對(duì)實(shí)驗(yàn)系統(tǒng)進(jìn)行運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)仿真,并根據(jù)實(shí)際工況抽象出三條典型軌跡進(jìn)行規(guī)劃,得到各關(guān)節(jié)轉(zhuǎn)角變化規(guī)律,比較分析結(jié)果研究不同軌跡不同安裝角度姿態(tài)情況下助力設(shè)備的跟蹤性能;設(shè)置軟件接口進(jìn)行Similink/ADAMS聯(lián)合仿真,以上述軌跡規(guī)劃結(jié)果為參照對(duì)變壓力重力補(bǔ)償控制器和交流伺服電機(jī)定位控制策略的實(shí)用性能進(jìn)行虛擬樣機(jī)聯(lián)合仿真驗(yàn)證。最后搭建氣動(dòng)助力實(shí)驗(yàn)臺(tái)進(jìn)行調(diào)試,對(duì)前面的理論研究工作做實(shí)踐研究。介紹了實(shí)驗(yàn)臺(tái)工作原理,并針對(duì)末端軌跡跟蹤效果和微調(diào)進(jìn)給性能進(jìn)行實(shí)驗(yàn)驗(yàn)證。實(shí)驗(yàn)結(jié)果表面,本課題設(shè)計(jì)的氣動(dòng)助力實(shí)驗(yàn)系統(tǒng)滿足項(xiàng)目設(shè)計(jì)指標(biāo)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(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH138;TP242.2

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