【摘要】：近年來(lái),柔性關(guān)節(jié)由于具有較好的抗沖擊、容易實(shí)現(xiàn)精確的力控制,同時(shí)負(fù)載/自重比較大,在輕型機(jī)械臂、步行機(jī)器人、機(jī)械外骨骼等領(lǐng)域被廣泛應(yīng)用。本文在“新概念智能操控載荷技術(shù)”項(xiàng)目的支持下,針對(duì)輕型機(jī)械臂的應(yīng)用需求,提出了一種高度集成的抗沖擊柔性關(guān)節(jié),其采用串聯(lián)彈性驅(qū)動(dòng)技術(shù)來(lái)實(shí)現(xiàn)被動(dòng)柔性和力矩感知功能,并在此基礎(chǔ)上對(duì)關(guān)節(jié)開(kāi)展主動(dòng)柔順控制以及抗沖擊特性等研究。首先,根據(jù)設(shè)計(jì)指標(biāo)要求,完成了柔性關(guān)節(jié)的總體結(jié)構(gòu)設(shè)計(jì)。確定了“電機(jī)+減速器+彈性元件+負(fù)載”的設(shè)計(jì)方案,對(duì)關(guān)節(jié)內(nèi)部驅(qū)動(dòng)傳動(dòng)系統(tǒng)、傳感系統(tǒng)以及失電制動(dòng)器的具體結(jié)構(gòu)進(jìn)行了詳細(xì)設(shè)計(jì);為實(shí)現(xiàn)關(guān)節(jié)的被動(dòng)柔性,設(shè)計(jì)了一種新型串聯(lián)彈性元件,同時(shí)可以用其反饋關(guān)節(jié)力矩信息,利用Workbench軟件提供的DOE試驗(yàn)設(shè)計(jì)法對(duì)彈性元件的形狀進(jìn)行了優(yōu)化分析,使其剛度滿足關(guān)節(jié)的設(shè)計(jì)要求;對(duì)關(guān)節(jié)內(nèi)部的關(guān)鍵承載零件進(jìn)行了強(qiáng)度校核。其次,建立了柔性關(guān)節(jié)的動(dòng)力學(xué)模型,并完成了主要參數(shù)的辨識(shí)。通過(guò)將串聯(lián)彈性元件簡(jiǎn)化為無(wú)阻尼的線性扭簧,建立了柔性關(guān)節(jié)的簡(jiǎn)化動(dòng)力學(xué)模型;在動(dòng)力學(xué)模型的基礎(chǔ)上,對(duì)柔性關(guān)節(jié)的相關(guān)特性進(jìn)行了理論分析。采用靜加載的方式對(duì)關(guān)節(jié)剛度進(jìn)行了辨識(shí);利用遺傳算法辨識(shí)得到了關(guān)節(jié)的LuGre靜態(tài)摩擦模型,并提出了一種簡(jiǎn)化線性摩擦模型;通過(guò)電機(jī)控制輸入量PWM值和與其對(duì)應(yīng)的電機(jī)輸出力矩之間的關(guān)系,計(jì)算得到了電機(jī)力矩系數(shù)。然后,研究了柔性關(guān)節(jié)的位置控制、力柔順控制策略。針對(duì)柔性關(guān)節(jié)的位置控制,制定了PD控制策略和PD+反步法分層控制策略,并利用Simulink對(duì)兩種算法進(jìn)行了仿真分析;針對(duì)柔性關(guān)節(jié)的力柔順控制,制定了力矩伺服控制策略和阻抗控制策略,利用ADAMS和Simulink對(duì)相應(yīng)控制策略進(jìn)行了聯(lián)合仿真驗(yàn)證;對(duì)柔性關(guān)節(jié)進(jìn)行了靜態(tài)和動(dòng)態(tài)沖擊仿真分析。最后,搭建了柔性關(guān)節(jié)實(shí)驗(yàn)平臺(tái),對(duì)柔性關(guān)節(jié)進(jìn)行性能實(shí)驗(yàn)研究。在不同負(fù)載下,通過(guò)對(duì)柔性關(guān)節(jié)進(jìn)行了不同頻率、不同幅值正弦信號(hào)跟蹤實(shí)驗(yàn),驗(yàn)證了位置控制算法的有效性;通過(guò)對(duì)柔性關(guān)節(jié)進(jìn)行力矩跟蹤實(shí)驗(yàn)、零力矩控制實(shí)驗(yàn)和擾動(dòng)及碰撞實(shí)驗(yàn),驗(yàn)證了力柔順控制策略的有效性;通過(guò)對(duì)柔性關(guān)節(jié)進(jìn)行靜態(tài)和動(dòng)態(tài)沖擊實(shí)驗(yàn),測(cè)試了關(guān)節(jié)內(nèi)部彈性元件的抗沖擊特性。
[Abstract]:In recent years, flexible joints have been widely used in light manipulators, walking robots, mechanical exoskeletons and other fields because of their good impact resistance, easy to achieve accurate force control and large load/deadweight ratio. A highly integrated anti-impact flexible joint is proposed, which uses series elastic drive technology to realize passive flexibility and torque sensing. On this basis, active compliance control and anti-impact characteristics of the joint are studied. Firstly, the overall structure design of the flexible joint is completed according to the requirements of design indicators. In order to realize the passive flexibility of the joint, a new series elastic element is designed, which can be used to feedback the joint torque information and the DOE provided by Workbench software. The shape of the elastic element is optimized and analyzed by the experimental design method to make its stiffness meet the design requirements of the joint. The strength of the key load-bearing parts inside the joint is checked. Secondly, the dynamic model of the flexible joint is established and the main parameters are identified. A simplified dynamic model of the flexible joint is established. Based on the dynamic model, the relevant characteristics of the flexible joint are analyzed theoretically. The torque coefficient of the motor is calculated by the relationship between the PWM value of the motor control input and the corresponding output torque of the motor. Then, the position control and force compliance control strategies of the flexible joint are studied. The algorithm is simulated and analyzed; the torque servo control strategy and impedance control strategy are formulated for the force compliance control of flexible joints; the corresponding control strategy is verified by joint simulation using ADAMS and Simulink; the static and dynamic impact simulation analysis of flexible joints is carried out. Finally, the experimental platform of flexible joints is built to control the flexibility. The performance of the joint is experimentally studied. The effectiveness of the position control algorithm is verified by sinusoidal tracking experiments with different frequencies and amplitudes under different loads. The torque tracking experiment, zero torque control experiment and disturbance and collision experiment are carried out to verify the force compliance control strategy. The validity of the flexible joint was tested by static and dynamic impact tests.
【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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