【摘要】：隨著社會生產(chǎn)和生活方式的快速變化以及人口老齡化的加劇,我國服務(wù)機(jī)器人的需求量也隨之增加。在服務(wù)機(jī)器人使用過程中,人和服務(wù)機(jī)器人想要從“主仆關(guān)系”變成真正的“伙伴關(guān)系”,人的安全性尤為重要。柔性關(guān)節(jié)具有安全交互、抗沖擊的特點(diǎn),將其應(yīng)用到服務(wù)機(jī)器人關(guān)節(jié)結(jié)構(gòu)中可提高人機(jī)協(xié)作過程的安全性。本課題設(shè)計一種模塊化柔性關(guān)節(jié)并對其開展控制研究。首先,柔性關(guān)節(jié)頻域特性分析。建立柔性關(guān)節(jié)的簡化模型,在頻域下分析不同驅(qū)動源對柔性關(guān)節(jié)系統(tǒng)穩(wěn)定性、輸出帶寬、幅頻和相位跟隨性的影響,以及剛度系數(shù)和阻尼系數(shù)對開環(huán)閉環(huán)系統(tǒng)穩(wěn)定性的影響,并在力源驅(qū)動模型下分析柔性關(guān)節(jié)的關(guān)節(jié)輸出阻抗和抗沖擊性,充分分析柔性關(guān)節(jié)的關(guān)節(jié)特性。然后,模塊化柔性關(guān)節(jié)的總體設(shè)計。根據(jù)柔性關(guān)節(jié)的實際應(yīng)用場合,制定該柔性關(guān)節(jié)的技術(shù)指標(biāo),依據(jù)技術(shù)指標(biāo)基于模塊化設(shè)計思想對柔性關(guān)節(jié)進(jìn)行總體設(shè)計,包括結(jié)構(gòu)設(shè)計和控制系統(tǒng)設(shè)計,并對關(guān)鍵零部件彈性元件進(jìn)行專門的設(shè)計和分析,利用有限元法進(jìn)行尺寸優(yōu)化設(shè)計,通過仿真軟件驗證該彈性元件設(shè)計的合理性。其次,柔性關(guān)節(jié)動力學(xué)建模及控制仿真。在力源驅(qū)動下建立柔性關(guān)節(jié)的動力學(xué)模型,同時考慮關(guān)節(jié)摩擦、外界力矩擾動對柔性關(guān)節(jié)系統(tǒng)的影響,根據(jù)建立的動力學(xué)模型設(shè)計兩種位置控制算法,分別為基于重力補(bǔ)償?shù)腜D控制和基于模糊控制的PD控制,通過仿真分析柔性關(guān)節(jié)位置保持、位置跟隨時控制算法的快速性、準(zhǔn)確性及總結(jié)兩種控制算法的優(yōu)缺點(diǎn)。為了使得柔性關(guān)節(jié)具有柔順性、安全性的特點(diǎn),還設(shè)計兩種阻抗控制器,分別為基于重力補(bǔ)償?shù)淖杩箍刂破骱突谶z忘系數(shù)的自適應(yīng)阻抗控制器,柔性關(guān)節(jié)采用內(nèi)環(huán)為位置控制的阻抗控制,通過仿真分析柔性關(guān)節(jié)與剛度變化的環(huán)境接觸時不同阻抗控制器的力、位置跟隨性,抗干擾性及環(huán)境適應(yīng)性,驗證阻抗控制器的有效性。最后,搭建模塊化柔性關(guān)節(jié)實驗平臺,開展位置控制實驗,驗證位置控制算法的有效性及柔性關(guān)節(jié)的合理性。
[Abstract]:With the rapid changes of social production and life style and the aggravation of population aging, the demand for service robots in China is also increasing. In the process of using service robot, human and service robot want to change from "master-servant relationship" to "real partnership", and human security is especially important. Flexible joints have the characteristics of safety interaction and shock resistance. Applying them to the joint structure of service robot can improve the safety of man-machine cooperation process. In this paper, a modular flexible joint is designed and its control is studied. Firstly, the characteristics of flexible joints in frequency domain are analyzed. A simplified model of flexible joint is established. The effects of different driving sources on the stability, output bandwidth, amplitude, frequency and phase following of flexible joint system are analyzed in frequency domain, and the effects of stiffness coefficient and damping coefficient on the stability of open loop closed loop system are also analyzed. The joint output impedance and impact resistance of the flexible joint are analyzed under the force source drive model, and the joint characteristics of the flexible joint are fully analyzed. Then, the overall design of modular flexible joints. According to the practical application of the flexible joint, the technical index of the flexible joint is formulated, and the overall design of the flexible joint is carried out based on the modular design idea, including the structural design and the control system design. The elastic element of key parts is specially designed and analyzed, and the dimension optimization design is carried out by using finite element method. The rationality of the design of elastic element is verified by simulation software. Secondly, flexible joint dynamics modeling and control simulation. The dynamic model of flexible joint driven by force source is established, and considering the influence of joint friction and external torque disturbance on flexible joint system, two position control algorithms are designed according to the established dynamic model. PD control based on gravity compensation and PD control based on fuzzy control are used to analyze the rapidity and accuracy of the flexible joint position retention and position following control algorithm by simulation. The advantages and disadvantages of the two control algorithms are summarized. In order to make flexible joints have the characteristics of flexibility and safety, two kinds of impedance controllers are designed, one is based on gravity compensation and the other is adaptive impedance controller based on forgetting coefficient. The flexible joints are controlled by impedance with the inner loop as the position control. The force, position following, anti-interference and environmental adaptability of the different impedance controllers when the flexible joints are in contact with the environment with varying stiffness are analyzed by simulation. Verify the effectiveness of the impedance controller. Finally, a modular flexible joint experiment platform is built to verify the effectiveness of the position control algorithm and the rationality of the flexible joint.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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