本文選題：機(jī)器人建模 + 旋擰閥門　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著核電技術(shù)的高速發(fā)展,核電救災(zāi)作業(yè)也越來越受到世界各國的密切關(guān)注。旋擰閥門作為核電站基本作業(yè)任務(wù)之一,也逐漸受到廣泛關(guān)注。為保護(hù)救災(zāi)人員的安全,采用機(jī)器人執(zhí)行旋擰閥門任務(wù)將是最佳方式之一。本文結(jié)合機(jī)器人旋擰閥門的實(shí)際作業(yè)問題,提出了一種新的融合柔順機(jī)構(gòu)和自適應(yīng)阻抗控制的主被動(dòng)柔順策略,并對(duì)該策略進(jìn)行了詳細(xì)的分析和研究。本文分析了遠(yuǎn)程操作機(jī)器人旋擰作業(yè)的誤差來源,并完成了對(duì)其的分類。建立了不同類型作業(yè)誤差與機(jī)器人末端作業(yè)力/力矩的分析模型。建立了六自由度機(jī)器人的正運(yùn)動(dòng)學(xué)模型和雅克比矩陣,并分析了機(jī)器人末端作業(yè)力/力矩和機(jī)器人關(guān)節(jié)力矩間的映射關(guān)系。建立了機(jī)器人旋擰作業(yè)的仿真模型,通過仿真分析驗(yàn)證了上述計(jì)算分析的正確性。分析了機(jī)器人旋擰閥門作業(yè)的主要問題,采用被動(dòng)柔順機(jī)構(gòu)解決旋擰側(cè)向力/力矩問題,采用自適應(yīng)阻抗控制解決閥門手輪軸向位置的跟蹤問題。設(shè)計(jì)了一款基于虎克鉸機(jī)構(gòu)的被動(dòng)柔順末端執(zhí)行器,并完成了對(duì)其柔順能力的分析。完成了機(jī)器人旋擰閥門的軌跡規(guī)劃設(shè)計(jì),為后續(xù)研究奠定基礎(chǔ)。在ADAMS中搭建了旋擰閥門仿真平臺(tái),并完成了相關(guān)的旋擰閥門仿真實(shí)驗(yàn),證明了被動(dòng)柔順末端執(zhí)行器的有效性。建立了機(jī)器人旋擰閥門的實(shí)驗(yàn)平臺(tái),完成了基于被動(dòng)柔順末端執(zhí)行器的旋擰閥門實(shí)驗(yàn)。針對(duì)閥門手輪旋擰過程中產(chǎn)生的軸向位移問題,本文采用基于位置的阻抗控制對(duì)閥門手輪位置進(jìn)行跟蹤的方法,并分析了阻抗控制的恒力跟蹤穩(wěn)態(tài)誤差,完成了阻抗控制系統(tǒng)性能的仿真分析。針對(duì)阻抗控制恒力跟蹤效果的不足,本文進(jìn)一步采用自適應(yīng)阻抗控制,基于Lyapunov穩(wěn)定理論設(shè)計(jì)了自適應(yīng)控制律,并搭建了自適應(yīng)阻抗控制系統(tǒng),完成了控制系統(tǒng)的性能分析。建立了MATLAB/ADAMS聯(lián)合仿真平臺(tái),完成了相關(guān)的聯(lián)合仿真實(shí)驗(yàn)�；谝汛罱ǖ臋C(jī)器人旋擰閥門實(shí)驗(yàn)平臺(tái),完成了基于主被動(dòng)柔順的機(jī)器人旋擰閥門實(shí)驗(yàn)。
[Abstract]:With the rapid development of nuclear power technology, the disaster relief work of nuclear power has attracted more and more attention all over the world. As one of the basic operational tasks of nuclear power plant, rotary valve has been paid more and more attention. In order to protect the safety of disaster relief personnel, it will be one of the best ways to use robot to perform spin valve task. In this paper, a new active and passive compliance strategy combining compliant mechanism and adaptive impedance control is proposed, and the strategy is analyzed and studied in detail. In this paper, the error sources of spin operation of remote manipulating robot are analyzed, and the classification of them is completed. The analysis model of different types of error and end force / torque of robot is established. The forward kinematics model and Jacobian matrix of a six-degree-of-freedom robot are established, and the mapping relationship between the end working force / torque of the robot and the joint moment of the robot is analyzed. The simulation model of robot rotation operation is established, and the correctness of the above calculation and analysis is verified by simulation analysis. In this paper, the main problems of robot rotary valve operation are analyzed. The passive compliant mechanism is used to solve the lateral force / torque problem, and the adaptive impedance control is used to solve the problem of tracking the axial position of the valve handwheel. A passive compliance terminal actuator based on Hook hinge mechanism is designed, and its compliance ability is analyzed. The trajectory planning design of robot rotary valve is completed, which lays a foundation for further research. The simulation platform of rotary valve is built in Adams, and the simulation experiment of rotary valve is completed, which proves the effectiveness of passive compliance end actuator. The experimental platform of robot rotary valve is established, and the rotary valve experiment based on passive compliance end actuator is completed. Aiming at the axial displacement of the valve handwheel in the process of rotation, this paper adopts the impedance control based on position to track the position of the valve handwheel, and analyzes the steady-state error of constant force tracking of the impedance control. The performance of impedance control system is simulated and analyzed. Aiming at the deficiency of constant force tracking effect of impedance control, adaptive impedance control is further adopted in this paper. Based on Lyapunov stability theory, adaptive control law is designed, and adaptive impedance control system is built, and the performance analysis of the control system is completed. The MATLAB / Adams joint simulation platform is established, and the related joint simulation experiments are completed. Based on the established robot rotary valve experimental platform, the robot spin valve experiment based on active and passive compliance is completed.
【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;TM623

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本文編號(hào)：2112194