【摘要】：多軸機器人系統(tǒng)正逐步替代人工從事沉重乏味的包裝、運輸、搬運等重復性作業(yè),具有極其重要的作用。傳統(tǒng)的機械臂內部電纜線繁多、不具備力感知功能,導致機械臂的可靠性、安全性和可維護性極差,傳統(tǒng)的多軸機器人在空間、戰(zhàn)場、家庭等有著特殊任務要求的場合難以勝任,協(xié)作型機械臂正是基于這些特殊任務要求而產生的。本文開展了輕型無線化人機協(xié)作機械臂的研究,大大減少了機械臂的內部走線并使之具備柔順控制能力,能與人協(xié)同完成作業(yè)任務。針對復雜人機協(xié)同作業(yè)任務要求,詳細分析了機械臂各項技術指標要求,在此基礎上,提出輕型無線化人機協(xié)作機械臂的總體方案。機械臂關節(jié)采用永磁直流無刷電機作為動力,諧波減速器作為傳動部件,并設計了失電制動器以在掉電狀態(tài)下將關節(jié)抱死。關節(jié)內部安裝有霍爾傳感器、增量式編碼器和絕對式編碼器用于關節(jié)的位置和速度測量,同時在硬件電路上集成電流傳感器,測量電機的電流換算成力矩。機械臂的控制部分包括頂層的中央控制器以及底層的關節(jié)伺服控制器,將機械臂在MATLAB和ADMAS中的運動學、動力學算法移植到中央控制器,關節(jié)伺服控制器實現關節(jié)的位置、速度和電流三環(huán)控制。關節(jié)伺服控制器采用FPGA+ARM的雙處理器架構,具有冗余備份功能。機械臂中央控制器與關節(jié)伺服控制器之間通過ZIGBEE無線方式進行通訊,極大減少了關節(jié)內部走線的數量,提高了裝配和調試的效率,更方便后續(xù)的維護。對設計的兩類模塊化關節(jié)進行加工和裝配,并將開發(fā)的關節(jié)伺服控制器集成到關節(jié)內部,完成了傳感器的采樣處理、控制算法的調試、關節(jié)之間的無線通訊。并在此基礎上進行關節(jié)性能指標的測試,包括三環(huán)跟蹤實驗、關節(jié)剛度和阻力實驗、負載實驗,最后對電流和力矩的對應關系進行了標定,實驗表明研制的兩類模塊化關節(jié)達到了要求的技術指標。最后將七個模塊化關節(jié)、臂桿、基座進行整體裝配,中央控制器通過ZIGBEE下發(fā)七關節(jié)的角度指令信息,驅動整個機械臂運動,完成功能演示實驗。
[Abstract]:Multi-axis robot system is gradually replacing manual to do heavy and tedious packaging, transportation, handling and other repetitive operations, which plays an extremely important role. There are many cable lines in the traditional robot arm, which does not have the function of force sensing, which leads to the poor reliability, safety and maintainability of the manipulator. The traditional multi-axis robot is in space and battlefield. The family is incompetent in situations with special task requirements, and cooperative manipulator is based on these special task requirements. In this paper, the research of the lightweight wireless man-machine cooperative manipulator is carried out, which greatly reduces the internal wiring of the manipulator and makes it have the ability of compliant control, and it can accomplish the task in cooperation with people. According to the task requirements of complex man-machine cooperative operation, the technical requirements of the manipulator are analyzed in detail. On the basis of this, the overall scheme of the lightweight wireless man-machine cooperative manipulator is proposed. The permanent magnet brushless DC motor is used as the power and the harmonic reducer is used as the transmission component in the joint of the mechanical arm, and a power loss brake is designed to lock the joint under the condition of power-off. Hall sensors are installed inside the joints, incremental encoders and absolute encoders are used to measure the position and velocity of joints, and current sensors are integrated on the hardware circuit to measure the current conversion of the motor into torque. The control part of the manipulator includes the central controller of the top layer and the joint servo controller of the bottom layer. The kinematics and dynamics algorithms of the manipulator in MATLAB and ADMAS are transplanted to the central controller, and the joint servo controller realizes the position of the joint. Speed and current three-loop control. The joint servo controller adopts the dual processor architecture of FPGA ARM and has redundant backup function. The communication between the central controller of the manipulator and the joint servo controller is carried out by ZIGBEE wireless mode, which greatly reduces the number of internal wiring of the joint, improves the efficiency of assembly and debugging, and facilitates the subsequent maintenance. Two kinds of modular joints are processed and assembled, and the developed joint servo controller is integrated into the joint interior. The sensor sampling processing, control algorithm debugging and wireless communication between joints are completed. On this basis, the joint performance indexes are tested, including three-ring tracking experiment, joint stiffness and resistance test, load test, and the corresponding relationship between current and torque is calibrated. The experimental results show that the two kinds of modular joints have met the required technical specifications. Finally, the seven modular joints, arm rods and pedestal are assembled as a whole, and the central controller sends out the angle instruction information of the seven joints through ZIGBEE to drive the whole manipulator motion and complete the function demonstration experiment.
【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】：TP241

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