本文選題：充電機器人 + 柔索驅(qū)動��； 參考：《哈爾濱工業(yè)大學》2017年碩士論文

【摘要】：隨著新能源汽車的飛速發(fā)展,充電設(shè)施的需求也越來越大。傳統(tǒng)充電樁需要人工操作實現(xiàn)充電,自動化程度低,充電完成后不能及時拔下充電頭導(dǎo)致充電樁被占用,利用效率低;另外,智能車庫的普及也對自動化充電提出了新的需求。傳統(tǒng)的關(guān)節(jié)型機器人體積大、避障能力差,不適合于在狹小空間中應(yīng)用。因此,本文研制了線驅(qū)動柔性智能充電機器人系統(tǒng),結(jié)構(gòu)小巧、運動靈活,可用于智能車庫、停車場等場合,實現(xiàn)對新能源汽車的自動充電�；诠ぷ鳝h(huán)境和應(yīng)用場景的分析,確定了充電機器人系統(tǒng)的功能和性能指標,基于此,設(shè)計了基于繩索聯(lián)動的線驅(qū)動柔性機器人系統(tǒng)方案。所設(shè)計的機器人包括操作臂和控制箱,其中操作臂由三個兩自由度的聯(lián)動模塊和一個兩自由度十字軸模塊組成,每個模塊由3根鋼絲繩牽引,每根繩索由一個電機和一套絲杠導(dǎo)軌機構(gòu)驅(qū)動,實現(xiàn)了電機的旋轉(zhuǎn)運動到繩索拉伸運動的轉(zhuǎn)換。繩索拉伸過程中聯(lián)動模塊為等曲率彎曲變形,且具有較高的運動精度和負載能力。所有電機、傳動機構(gòu)、傳感器和控制器均放置在一個箱體中(稱為控制箱),大大降低了操作臂部分的質(zhì)量和尺寸,使其可以在狹小環(huán)境中靈活運動。另外,控制箱內(nèi)設(shè)計了自動擒釋機構(gòu),可自動卡緊、釋放驅(qū)動繩索,使得操作臂與控制箱容易分離,方便更換和調(diào)試。為實現(xiàn)充電過程中末端軌跡的精確控制,推導(dǎo)了線驅(qū)動柔性充電機器人系統(tǒng)的運動學方程,建立了機器人末端位姿和電機轉(zhuǎn)角之間的映射關(guān)系,并采用偽逆法進行逆運動學求解。在此基礎(chǔ)上,對機器人末端的典型運動軌跡進行了規(guī)劃,包括圓弧運動軌跡、直線運動軌跡和一般曲線運動軌跡等。另外,開發(fā)了基于ARM處理器的嵌入式控制系統(tǒng),對各伺服電機進行聯(lián)合控制;同時,為方便用戶設(shè)置作業(yè)任務(wù),并進行調(diào)試,編寫了基于Visual C++的上位機軟件,通過CAN總線網(wǎng)絡(luò)與嵌入式控制系統(tǒng)進行實時通訊,可實現(xiàn)多種控制模式,包括獨立控制和協(xié)同控制,增強了人機交互能力。在上述工作的基礎(chǔ)上,完成了機器人樣機的集成,并開展了性能測試和典型作業(yè)任務(wù)的實驗研究,包括重復(fù)定位精度的測試,以及末端直線軌跡跟蹤、圓弧軌跡跟蹤和模擬充電等實驗,實驗結(jié)果表明所研制的機器人達到了設(shè)計要求。
[Abstract]:With the rapid development of new energy vehicles, the demand for charging facilities is also increasing. The traditional charging pile needs manual operation to realize charging, the automation degree is low, the charging pile is occupied and the utilization efficiency is low due to the failure to unplug the charging head in time after the charging is completed. In addition, the popularization of intelligent garage also puts forward new requirements for automatic charging. The traditional joint robot is not suitable for application in narrow space because of its large volume and poor obstacle avoidance ability. Therefore, a flexible intelligent charging robot system with wire drive is developed in this paper. The system is compact in structure and flexible in motion. It can be used in intelligent garage, parking lot and other occasions to realize the automatic charging of new energy vehicles. Based on the analysis of working environment and application scene, the function and performance index of charging robot system are determined. Based on this, a wire-driven flexible robot system scheme based on rope linkage is designed. The designed robot consists of an operating arm and a control box. The manipulator consists of three linkage modules with two degrees of freedom and a two-degree-of-freedom cross shaft module. Each module is drawn by three wire ropes. Each rope is driven by a motor and a lead screw guide mechanism, which realizes the transformation from the rotating motion of the motor to the stretching motion of the rope. In the process of rope drawing, the linkage module is curved and deformed with equal curvature, and it has high motion precision and load capacity. All motors, transmission mechanisms, sensors and controllers are placed in a box (called control box), which greatly reduces the mass and size of the arm part and allows it to move flexibly in a narrow environment. In addition, the automatic capture and release mechanism is designed in the control box, which can tighten automatically and release the driving rope, which makes the arm and control box easy to be separated and easy to change and debug. In order to accurately control the terminal trajectory during charging, the kinematics equation of the linear driven flexible charging robot system is derived, and the mapping relationship between the end position and the motor rotation angle of the robot is established. The pseudo-inverse method is used to solve the inverse kinematics. On this basis, the typical trajectory of the robot's end is planned, including the arc trajectory, the linear trajectory and the general curve trajectory, etc. In addition, the embedded control system based on ARM processor is developed to control each servo motor jointly. At the same time, the host computer software based on Visual C is written to set the task and debug for the convenience of the user. Through the real-time communication between the CAN bus network and the embedded control system, a variety of control modes, including independent control and cooperative control, can be realized, and the human-computer interaction ability is enhanced. On the basis of the above work, the integration of the robot prototype is completed, and the performance test and the experimental research of typical task are carried out, including the test of the accuracy of the repeated positioning, and the tracking of the terminal straight line. The experimental results show that the designed robot meets the design requirements.
【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】：TP242

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