本文選題：被動(dòng)柔性 + 變剛度關(guān)節(jié)��； 參考：《中國(guó)礦業(yè)大學(xué)》2017年碩士論文

【摘要】：柔性變剛度關(guān)節(jié)能夠獨(dú)立于輸出位置改變系統(tǒng)剛度,具有很強(qiáng)的環(huán)境適應(yīng)能力,在建立安全的人機(jī)交互、提高能量效率和降低碰撞影響等方面擁有巨大的優(yōu)勢(shì)。被動(dòng)柔性變剛度關(guān)節(jié)是具有物理可調(diào)剛度屬性的柔性變剛度關(guān)節(jié),通過(guò)改變關(guān)節(jié)內(nèi)部變剛度彈性元件的結(jié)構(gòu)屬性來(lái)調(diào)節(jié)被動(dòng)柔性變剛度關(guān)節(jié)的剛度特性,是機(jī)器人驅(qū)動(dòng)技術(shù)的一個(gè)重要研究方向。本文致力于研究一種全新的安全、可控的被動(dòng)柔性變剛度關(guān)節(jié),進(jìn)行剛度和位置的獨(dú)立控制,實(shí)現(xiàn)對(duì)不同環(huán)境條件下執(zhí)行機(jī)構(gòu)精度和安全性需求差異的平衡。主要進(jìn)行了以下研究:首先,提出了變剛度方案和構(gòu)型方案并建立了系統(tǒng)力學(xué)模型;基于力學(xué)模型分析了被動(dòng)柔性變剛度關(guān)節(jié)的變剛度特性;根據(jù)理論分析結(jié)果設(shè)計(jì)了關(guān)節(jié)物理樣機(jī),并對(duì)關(guān)鍵部件進(jìn)行了有限單元校核。其次,建立了相互獨(dú)立的剛度調(diào)節(jié)系統(tǒng)和位置控制系統(tǒng)架構(gòu);應(yīng)用速度/位置雙環(huán)PI控制器實(shí)現(xiàn)剛度系統(tǒng)的半閉環(huán)控制,應(yīng)用粒子群優(yōu)化算法對(duì)控制器參數(shù)進(jìn)行調(diào)節(jié),并進(jìn)行了剛度階躍跟蹤仿真實(shí)驗(yàn);建立了單連桿柔性變剛度關(guān)節(jié)驅(qū)動(dòng)系統(tǒng)動(dòng)力學(xué)模型,應(yīng)用滑模方法實(shí)現(xiàn)了連桿位置的開(kāi)環(huán)控制,應(yīng)用魯棒觀測(cè)器對(duì)系統(tǒng)狀態(tài)進(jìn)行了有效觀測(cè),并進(jìn)行了位置正弦跟蹤仿真實(shí)驗(yàn);設(shè)計(jì)了單連桿柔性變剛度關(guān)節(jié)系統(tǒng)的剛度-速度聯(lián)動(dòng)控制律,建立了連桿速度和關(guān)節(jié)剛度的聯(lián)動(dòng)調(diào)節(jié)機(jī)制。接著,結(jié)合柔性變剛度關(guān)節(jié)的控制特性配置了驅(qū)動(dòng)系統(tǒng)硬件,設(shè)計(jì)了接口電路;結(jié)合驅(qū)動(dòng)系統(tǒng)硬件設(shè)計(jì)了驅(qū)動(dòng)系統(tǒng)上位機(jī),并簡(jiǎn)要介紹了軟件控制系統(tǒng)的各個(gè)功能模塊。最后,搭建了柔性變剛度關(guān)節(jié)的實(shí)驗(yàn)測(cè)試平臺(tái),進(jìn)行了柔性變剛度關(guān)節(jié)的特性分析實(shí)驗(yàn),對(duì)實(shí)驗(yàn)數(shù)據(jù)進(jìn)行了分析,實(shí)驗(yàn)驗(yàn)證了被動(dòng)柔性變剛度關(guān)節(jié)的變剛度能力。
[Abstract]:Flexible variable stiffness joints can change the stiffness of the system independently of the output position and have a strong adaptability to the environment. It has great advantages in establishing safe man-machine interaction, improving energy efficiency and reducing the impact of collision. The passive flexible variable stiffness joint is a flexible variable stiffness joint with physical adjustable stiffness. The stiffness characteristics of the passive flexible variable stiffness joint are adjusted by changing the structural properties of the internal variable stiffness elastic element. It is an important research direction of robot driving technology. This paper is devoted to the study of a new kind of safety controllable passive flexible variable stiffness joint which can control the stiffness and position independently and realize the balance between the accuracy and safety requirement of the actuator under different environment. The main contributions are as follows: firstly, the variable stiffness scheme and configuration scheme are proposed and the system mechanics model is established, and the variable stiffness characteristics of the passive flexible variable stiffness joint are analyzed based on the mechanical model. According to the results of theoretical analysis, the joint physical prototype is designed, and the key components are checked with finite element. Secondly, the independent stiffness regulation system and position control system architecture are established, the speed / position double loop Pi controller is used to realize the semi-closed loop control of the stiffness system, and the particle swarm optimization algorithm is used to adjust the controller parameters. The dynamic model of single link flexible variable stiffness joint driving system is established, the open loop control of link position is realized by sliding mode method, and the system state is observed effectively by robust observer. The simulation experiment of position sinusoidal tracking is carried out, and the stiffness speed linkage control law of single link flexible variable stiffness joint system is designed, and the linkage control mechanism of link speed and joint stiffness is established. Then, combined with the control characteristics of flexible variable stiffness joint, the hardware of the drive system is configured, the interface circuit is designed, the upper computer of the drive system is designed with the hardware of the drive system, and the function modules of the software control system are introduced briefly. Finally, the experimental test platform of flexible variable stiffness joint is built, and the characteristic analysis experiment of flexible variable stiffness joint is carried out. The experimental data are analyzed, and the ability of passive flexible variable stiffness joint is verified by experiment.
【學(xué)位授予單位】：中國(guó)礦業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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