本文選題：軟體機(jī)器人 + 純扭轉(zhuǎn)　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：軟體機(jī)器人采用柔性材料制作,形態(tài)結(jié)構(gòu)簡(jiǎn)單,高功率重量比,能夠通過(guò)主被動(dòng)變形適應(yīng)復(fù)雜的環(huán)境,抵御較強(qiáng)沖擊,操作對(duì)象友好,在一定程度上彌補(bǔ)了剛性機(jī)器人的不足,在醫(yī)療、工業(yè)機(jī)械手、康復(fù)、仿生、探測(cè)等領(lǐng)域具有廣闊的應(yīng)用前景,逐漸成為機(jī)器人研究的熱門(mén)方向。目前軟體機(jī)器人研究仍處于起步階段,在材料選擇、結(jié)構(gòu)設(shè)計(jì)與制造、運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)建模、驅(qū)動(dòng)控制等方面仍有諸多難題亟待解決,開(kāi)展相關(guān)研究具有重要意義。當(dāng)前,軟體彎曲致動(dòng)器得到了廣泛的研究和關(guān)注,而作為機(jī)器人復(fù)雜運(yùn)動(dòng)重要組成扭轉(zhuǎn)運(yùn)動(dòng)研究甚少。在受限的空間內(nèi),扭轉(zhuǎn)機(jī)器人能夠通過(guò)扭轉(zhuǎn)運(yùn)動(dòng)快速靈活的實(shí)現(xiàn)特定位姿,增加操作的靈活性。本文提出一種新型充氣式螺旋純扭轉(zhuǎn)模塊,并針對(duì)其模塊的設(shè)計(jì)、制備、運(yùn)動(dòng)學(xué)建模、驅(qū)動(dòng)控制以及樣機(jī)實(shí)驗(yàn)展開(kāi)了研究。首先,基于模塊化思想和螺旋式純扭轉(zhuǎn)驅(qū)動(dòng)原理,設(shè)計(jì)了一種螺旋式軟體致動(dòng)器模塊,易于控制,能夠提供大角度的純扭轉(zhuǎn)運(yùn)動(dòng);利用應(yīng)變能量密度函數(shù)描述超彈性材料的應(yīng)力應(yīng)變關(guān)系,并基于Abaqus有限元分析技術(shù),分析了軟體模塊的幾何參數(shù)對(duì)扭轉(zhuǎn)性能的影響規(guī)律,在此基礎(chǔ)上完成了軟體扭轉(zhuǎn)模塊的制備。其次,針對(duì)柔性材料的非線性導(dǎo)致軟體扭轉(zhuǎn)模塊運(yùn)動(dòng)學(xué)建模困難的問(wèn)題,基于虛功原理和彈性應(yīng)變能相結(jié)合的方法,并利用類似Rivlin方法,通過(guò)柱坐標(biāo)系變換,計(jì)算出彈性應(yīng)變能,建立了驅(qū)動(dòng)氣壓和扭轉(zhuǎn)角度之間的運(yùn)動(dòng)學(xué)映射關(guān)系;并結(jié)合數(shù)值仿真與實(shí)驗(yàn)進(jìn)行修正,得到了較高精度的軟體純扭轉(zhuǎn)模塊運(yùn)動(dòng)學(xué)模型。再次,采用模塊化設(shè)計(jì)思想設(shè)計(jì)了可調(diào)速的步進(jìn)電機(jī)充/放氣驅(qū)動(dòng)機(jī)構(gòu),搭建軟體模塊控制系統(tǒng);基于氣壓反饋,采用PID控制方法,實(shí)現(xiàn)了氣壓、充氣速度和流量的連續(xù)調(diào)節(jié)�；赩oxCAD軟件和QT+VS開(kāi)發(fā)了人機(jī)交互和驅(qū)動(dòng)控制系統(tǒng),可用于軟體機(jī)器人的運(yùn)動(dòng)控制和軌跡規(guī)劃。通過(guò)Ethernet通信和CAN級(jí)聯(lián)方式實(shí)現(xiàn)了多路驅(qū)動(dòng)控制的易擴(kuò)展性。最后,搭建了多路軟體機(jī)器人驅(qū)動(dòng)控制平臺(tái),進(jìn)行軟體扭轉(zhuǎn)模塊的樣機(jī)實(shí)驗(yàn)研究。設(shè)計(jì)并搭建了軟體扭轉(zhuǎn)模塊測(cè)量平臺(tái),測(cè)量了軟體扭轉(zhuǎn)模塊扭角、扭矩、滯回特性以及彎曲剛度等靜態(tài)特性;建立了扭轉(zhuǎn)模塊和仿人手軌跡規(guī)劃實(shí)驗(yàn)系統(tǒng),實(shí)現(xiàn)了軟體模塊的軌跡規(guī)劃與控制,驗(yàn)證了軌跡規(guī)劃與運(yùn)動(dòng)控制方法的有效性;最后,通過(guò)扭轉(zhuǎn)、彎曲以及伸縮多種軟體變形模塊的組裝,搭建了具有不同變形功能的軟體機(jī)器人實(shí)驗(yàn)系統(tǒng),完成了異型孔裝配、胃部模擬移物、仿人手扭轉(zhuǎn)抓取實(shí)驗(yàn),驗(yàn)證了模塊的大角度、純扭轉(zhuǎn)變形能力,以及控制系統(tǒng)與軌跡規(guī)劃控制方法的有效性。
[Abstract]:The soft robot is made of flexible material with simple configuration and high power weight ratio. It can adapt to complex environment through active and passive deformation, resist strong impact, and operate with friendly object, which makes up for the shortage of rigid robot to some extent. It has a broad application prospect in the fields of medical treatment, industrial manipulator, rehabilitation, bionics, detection and so on, and has gradually become a hot research direction of robot. At present, the research of software robot is still in its infancy. There are still many problems to be solved in material selection, structure design and manufacture, kinematics and dynamics modeling, drive control and so on. At present, flexible bending actuators have been widely studied and paid attention to, but as an important component of complex motion of robots, torsional motion is seldom studied. In the limited space, the torsion robot can quickly and flexibly realize the specific position and pose by torsion motion, and increase the flexibility of operation. In this paper, a new inflatable spiral pure torsion module is proposed, and the design, preparation, kinematics modeling, driving control and prototype experiment of the module are studied. Firstly, based on the modularization idea and the principle of helical pure torsion drive, a kind of spiral soft actuator module is designed, which is easy to control and can provide large angle pure torsional motion. The strain energy density function is used to describe the stress-strain relationship of hyperelastic materials. Based on the Abaqus finite element analysis technology, the influence of the geometric parameters of the software module on the torsion performance is analyzed. On this basis, the software torsion module is completed. Secondly, aiming at the problem that the nonlinear of flexible material leads to the difficulty of kinematics modeling of software torsion module, based on the combination of virtual work principle and elastic strain energy, and using the similar Rivlin method, the transformation of cylindrical coordinate system is used. The kinematics mapping relationship between the driving pressure and the torsion angle is established, and the kinematics model of the software pure torsion module with high accuracy is obtained by combining the numerical simulation with the experimental results. Thirdly, the modular design idea is used to design the speed adjustable charging / discharging drive mechanism of stepping motor, and the software module control system is built. Based on the feedback of air pressure, the PID control method is used to realize the continuous adjustment of air pressure, inflation speed and flow rate. Based on VoxCAD software and QT vs, a human-computer interaction and drive control system is developed, which can be used in motion control and trajectory planning of software robot. The extensibility of multiplex driver control is realized by Ethernet communication and CAN cascade. Finally, a multi-channel software robot drive and control platform is built, and the prototype of the software torsion module is studied experimentally. The software torsion module measuring platform is designed and built, the torsional angle, torque, hysteresis characteristic and bending stiffness of the software torsion module are measured, and the torsion module and simulated manual trajectory planning experiment system are established. The trajectory planning and control of the software module is realized, and the validity of the trajectory planning and motion control method is verified. Finally, through the assembly of the twisting, bending and stretching software deformation modules, A software robot experiment system with different deformation functions was built. The assembly of irregular holes, the simulated movement of stomach and the grasping experiment of manual torsion were completed. The large angle and pure torsional deformation ability of the module were verified. And the effectiveness of control system and trajectory planning control method.
【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)】：TP242

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本文編號(hào)：1810973