【摘要】：伴隨著機(jī)器人裝配技術(shù)的不斷改進(jìn)提高,雖已實(shí)現(xiàn)了機(jī)器人的力伺服控制,但控制精度仍顯不足使得裝配效率不高,而實(shí)現(xiàn)智能裝配、協(xié)作裝配技術(shù)取得突破是“中國制造2025”提出的具體要求,因此如何實(shí)現(xiàn)快速、高效的智能裝配迫在眉睫。本文主要圍繞基于力反饋的宏微機(jī)器人軸孔裝配策略展開研究,為最終實(shí)現(xiàn)宏微裝配機(jī)器人的力伺服控制打下基礎(chǔ)。1.并聯(lián)微平臺(tái)運(yùn)動(dòng)學(xué)正逆解分析。首先,確定了并聯(lián)微平臺(tái)的位置和姿態(tài)描述,依據(jù)動(dòng)、靜平臺(tái)的矢量關(guān)系推出并聯(lián)機(jī)器人運(yùn)動(dòng)學(xué)逆解方程,通過z-y-x歐拉角法則求解出微平臺(tái)的逆解;然后,采用基于位置反解的桿長迭代法來求解并聯(lián)機(jī)器人位置正解,并通過實(shí)例對其運(yùn)動(dòng)學(xué)正逆解進(jìn)行了數(shù)值驗(yàn)證。結(jié)果表明,并聯(lián)微平臺(tái)的驅(qū)動(dòng)桿可快速地逼近已知桿長,適用于實(shí)時(shí)控制和理論分析。2.軸孔裝配的理論研究。首先,分析了軸孔裝配過程,對軸孔接觸狀態(tài)進(jìn)行了劃分,重點(diǎn)對軸孔三點(diǎn)接觸模型分別進(jìn)行了力學(xué)分析和幾何分析;然后,結(jié)合螺旋理論和虛功原理對軸孔裝配過程中可能出現(xiàn)的各種接觸狀態(tài)進(jìn)行了判別,并給出了力傳感器坐標(biāo)系與軸孔接觸坐標(biāo)系的變換矩陣關(guān)系;最后,給出了軸孔裝配方案。3.基于改進(jìn)人工勢場法的末端執(zhí)行器路徑規(guī)劃。為使裝配機(jī)器人末端執(zhí)行器具有良好的柔性,對傳統(tǒng)人工勢場法的斥力勢函數(shù)進(jìn)行了改進(jìn);然后,在Visual Studio 2010平臺(tái)上建立了機(jī)器人末端執(zhí)行器的路徑規(guī)劃仿真平臺(tái),并進(jìn)行了機(jī)器人單一障礙物和多障礙物環(huán)境中的路徑規(guī)劃仿真實(shí)驗(yàn),結(jié)果表明經(jīng)典人工勢場法存在的目標(biāo)不可達(dá)問題得到了解決,驗(yàn)證了改進(jìn)的人工勢場法的有效性和實(shí)用性。4.微平臺(tái)末端位姿調(diào)整策略規(guī)劃與運(yùn)動(dòng)學(xué)仿真。首先,通過對六維力傳感器反饋的力信息分析得到了裝配力矢量在傳感器中的6個(gè)分量,并推導(dǎo)出了其位姿求解公式;然后,基于解耦的六維力信息,提出了微平臺(tái)末端位姿的調(diào)整策略;最后,通過對并聯(lián)微平臺(tái)結(jié)構(gòu)的分析,運(yùn)用參數(shù)化和模塊化設(shè)計(jì)思想,基于Matlab/SimMechanics建立了微平臺(tái)的物理仿真模型,結(jié)合Simulink給定微平臺(tái)的運(yùn)動(dòng)軌跡實(shí)現(xiàn)并聯(lián)微平臺(tái)的運(yùn)動(dòng)學(xué)仿真實(shí)驗(yàn),結(jié)果表明期望桿長與實(shí)際桿長之間偏差為0.04mm,誤差為2.67%。5.微平臺(tái)運(yùn)動(dòng)軌跡控制實(shí)驗(yàn)。首先,搭建了基于固高運(yùn)動(dòng)控制器的并聯(lián)微平臺(tái)運(yùn)動(dòng)控制實(shí)驗(yàn)平臺(tái);其次,通過對并聯(lián)微平臺(tái)控制系統(tǒng)進(jìn)行點(diǎn)位控制模式和各軸狀態(tài)設(shè)置,結(jié)合微平臺(tái)的運(yùn)動(dòng)學(xué)分析,完成對微平臺(tái)規(guī)劃軌跡的運(yùn)動(dòng)控制實(shí)驗(yàn);最后對實(shí)驗(yàn)結(jié)果進(jìn)行分析表明,并聯(lián)微平臺(tái)的運(yùn)動(dòng)序列與規(guī)劃軌跡基本吻合,驗(yàn)證了對并聯(lián)微平臺(tái)進(jìn)行軌跡控制的有效性。
[Abstract]:With the continuous improvement of robot assembly technology, although the force servo control of robot has been realized, the control accuracy is still insufficient, so that the assembly efficiency is not high, and the intelligent assembly is realized. The breakthrough of cooperative assembly technology is the specific requirement of "made in China 2025", so how to realize fast and efficient intelligent assembly is urgent. In this paper, the axial hole assembly strategy of macro and micro robot based on force feedback is studied, which lays the foundation for the final realization of force servo control of macro and micro assembly robot. Analysis of forward and inverse kinematic solutions of parallel microplatforms. Firstly, the position and attitude description of the parallel microplatform are determined, and the inverse kinematic solution equation of the parallel robot is derived according to the vector relationship between the moving and the static platform, and the inverse solution of the microplatform is solved by z-y-x Euler angle rule. Then, the forward position solution of the parallel robot is solved by the rod length iteration method based on the inverse position solution, and the forward and inverse kinematic solution is verified by an example. The results show that the driving rod of the parallel microplatform can quickly approximate the known rod length and is suitable for real-time control and theoretical analysis. Theoretical study on shaft hole assembly. Firstly, the assembly process of the shaft hole is analyzed, and the contact state of the shaft hole is divided, with emphasis on the mechanical analysis and geometric analysis of the three-point contact model of the shaft hole. Then, combined with spiral theory and virtual work principle, all kinds of contact states that may appear in the process of shaft hole assembly are distinguished, and the transformation matrix relationship between force sensor coordinate system and shaft hole contact coordinate system is given. Finally, the assembly scheme of shaft hole is given. Path planning of end actuator based on improved artificial potential field method. In order to make the end actuator of assembly robot have good flexibility, the repulsive potential function of the traditional artificial potential field method is improved. Then, the path planning simulation platform of robot terminal actuator is established on Visual Studio 2010 platform, and the path planning simulation experiment in single obstacle and multi-obstacle environment of robot is carried out. The results show that the target unreachable problem existing in the classical artificial potential field method is solved, and the effectiveness and practicability of the improved artificial potential field method are verified. 4. Strategy planning and kinematic simulation of pose adjustment at the end of microplatform. Firstly, through the analysis of the force information fed back by the six-dimensional force sensor, six components of the assembly force vector in the sensor are obtained, and the formula for solving the position and pose of the assembly force vector is derived. Then, based on the decoupling six-dimensional force information, the adjustment strategy of the position and pose at the end of the microplatform is proposed. Finally, through the analysis of the structure of parallel microplatform, the physical simulation model of microplatform is established based on Matlab/SimMechanics by using the idea of parametric and modular design. The kinematic simulation experiment of parallel microplatform is realized by combining the motion trajectory of Simulink given microplatform. the results show that the deviation between the expected rod length and the actual rod length is 0.04mm and the error is 2.67%. 5. Motion trajectory control experiment of microplatform. Firstly, the experimental platform of parallel microplatform motion control based on fixed height motion controller is built. Secondly, through the point control mode and the state setting of each axis of the parallel microplatform control system, combined with the kinematic analysis of the microplatform, the motion control experiment of the planning trajectory of the microplatform is completed. Finally, the experimental results show that the motion sequence of the parallel microplatform is basically consistent with the planned trajectory, and the effectiveness of trajectory control for the parallel microplatform is verified.
【學(xué)位授予單位】：西安理工大學(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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