具有大長徑比柔性鉸鏈的3-PPSR并聯(lián)機(jī)器人系統(tǒng)研究
發(fā)布時間：2019-02-28 08:29
【摘要】：隨著機(jī)器人技術(shù)的逐步完善,適于特殊作業(yè)的機(jī)器人種類也日益增多,其應(yīng)用領(lǐng)域不斷拓展到微電子制造、MEMS封裝與組裝、高精密機(jī)械加工與裝配、生物芯片制備、大范圍高速掃描檢測裝備等行業(yè)。隨之而來的,各行業(yè)對機(jī)器人的性能指標(biāo)提出了越來越高的要求,追求機(jī)器人的高定位精度、高重復(fù)精度、高分辨力,同時還要求其工作范圍大、質(zhì)量輕、能耗低等,從而對機(jī)器人結(jié)構(gòu)的設(shè)計提出了更高的要求。在這樣的前提之下,為滿足人類向微小世界探尋的需要,作為機(jī)器人技術(shù)發(fā)展的一個重要分支,微操作機(jī)器人成為機(jī)器人學(xué)中十分活躍的研究領(lǐng)域。在廣泛的分析了目前已有的柔性精密定位系統(tǒng)、并聯(lián)精密定位系統(tǒng)的基礎(chǔ)之上,針對目前大范圍運(yùn)動定位與高精度定位的應(yīng)用實際需要,提出了柔性鉸鏈的概念設(shè)計,并以此構(gòu)建三支鏈大長徑比柔性并聯(lián)結(jié)構(gòu)定位系統(tǒng),為滿足超高精度的定位需要,在并聯(lián)支鏈中集成了壓電陶瓷驅(qū)動,充分體現(xiàn)了驅(qū)動、結(jié)構(gòu)、檢測一體化的設(shè)計思想。在結(jié)構(gòu)單元的設(shè)計方面,針對當(dāng)前柔性鉸鏈運(yùn)動范圍小等問題,在通用的球副和轉(zhuǎn)動副柔性鉸鏈的基礎(chǔ)之上,提出了大長徑比柔性鉸鏈的概念設(shè)計;在柔性并聯(lián)結(jié)構(gòu)的設(shè)計方面,提出了在通用的并聯(lián)結(jié)構(gòu)系統(tǒng)中,采用大長徑比柔性鉸鏈代替?zhèn)鹘y(tǒng)運(yùn)動副的設(shè)想,建立基于大長徑比柔性鉸鏈的并聯(lián)結(jié)構(gòu)系統(tǒng)。在大長徑比柔性并聯(lián)結(jié)構(gòu)的運(yùn)動學(xué)建模方面,利用材料力學(xué)的基本原理和小變形假設(shè),推導(dǎo)了大長徑比柔性鉸鏈的數(shù)學(xué)模型,并給出了在全局坐標(biāo)系下的顯式表達(dá);在此基礎(chǔ)之上,通過剛度組集的方法建立了大長徑比柔性鉸鏈并聯(lián)結(jié)構(gòu)柔性支鏈的運(yùn)動表達(dá)顯式,通過聯(lián)立運(yùn)動位移協(xié)調(diào)方程和力約束協(xié)調(diào)方程,建立了并聯(lián)結(jié)構(gòu)的位置解模型。由于并聯(lián)結(jié)構(gòu)系統(tǒng)中的各部件,特別是柔性鉸鏈結(jié)構(gòu)在自身變形提供整體結(jié)構(gòu)的運(yùn)動輸出的同時,還經(jīng)歷了大范圍的剛體運(yùn)動,導(dǎo)致大長徑比柔性并聯(lián)結(jié)構(gòu)的位置解模型出現(xiàn)典型的幾何非線性問題。鑒于此,本文首先推導(dǎo)了空間柔性結(jié)構(gòu)的幾何非線性的剛度遞推模型,并利用牛頓-萊弗森方法對該模型進(jìn)行了求解。由于幾何非線性模型的迭代求解方式,導(dǎo)致該模型的實時性很差,不易移植至控制系統(tǒng)進(jìn)行實時控制求解,因此選擇BP神經(jīng)網(wǎng)絡(luò)方法,建立了三層六輸入-六輸出的位置解神經(jīng)網(wǎng)絡(luò)結(jié)構(gòu),從而在方便了實時控制編程的同時,還大大提高了系統(tǒng)的位置解的求解速度。由于柔性并聯(lián)結(jié)構(gòu)的位置解模型中不僅僅包括結(jié)構(gòu)中的位置信息,還提供了結(jié)構(gòu)中相關(guān)的力信息以及剛度信息,本文在上述位置解模型的基礎(chǔ)之上,給出了該類系統(tǒng)的剛度模型,對這類系統(tǒng)的結(jié)構(gòu)綜合以及優(yōu)化設(shè)計提供了有力的工具。在大長徑比柔性并聯(lián)結(jié)構(gòu)的樣機(jī)實驗方面,建立了采用大長徑比柔性鉸鏈作為被動關(guān)節(jié)的3-PPSR并聯(lián)機(jī)器人系統(tǒng),該系統(tǒng)采用壓電馬達(dá)作為驅(qū)動器,精密光柵尺作為位置反饋元件,其可在立方厘米級的工作空間內(nèi)實現(xiàn)微米級精度的運(yùn)動。結(jié)合力跟蹤模型的穩(wěn)態(tài)誤差,通過調(diào)整初始參考位置精確控制外部環(huán)境力。分析研究了分別在已知精確外部環(huán)境變量條件下,利用精確環(huán)境變量實現(xiàn)基于位置的外力跟蹤控制和不確定外部環(huán)境變量條件下,利用自適應(yīng)控制器控制力偏差實現(xiàn)的自適應(yīng)力控制。基于大長徑比柔性鉸鏈的壓電陶瓷馬達(dá)驅(qū)動并聯(lián)機(jī)器人系統(tǒng),可以同時滿足大工作空間和高精度的工程需要。
[Abstract]:With the development of the robot technology, the types of the robots suitable for special operation are also increasing, and the application fields of the robot are expanding to the industries of micro-electronic manufacturing, MEMS packaging and assembly, high precision mechanical processing and assembly, biochip preparation, large-range high-speed scanning and detection equipment and the like. With the development of the robot, the performance index of the robot is higher and higher, the high positioning precision, the high repetition precision and the high resolution of the robot are pursued, the working range of the robot is large, the quality is light, the energy consumption is low, So that the design of the robot structure is required to be higher. Under such a premise, as an important branch of the development of the robot technology, the micro-operating robot is a very active research field in robotics. Based on the extensive analysis of the existing flexible precision positioning system and parallel precision positioning system, the concept design of flexible hinge is put forward for the application of large-range motion positioning and high-precision positioning. In order to meet the positioning requirement of the ultra-high precision, the piezoelectric ceramic drive is integrated in the parallel branch chain, and the design idea of the drive, the structure and the detection integration is fully reflected. In the aspect of the design of the structural unit, the concept design of the flexible hinge with large aspect ratio is proposed on the basis of the universal ball pair and the rotating auxiliary flexible hinge based on the universal ball pair and the rotating auxiliary flexible hinge, and in the aspect of the design of the flexible parallel structure, In this paper, a parallel structure system based on large aspect ratio flexible hinge is established in a general parallel structure system, which is replaced by a large aspect ratio flexible hinge instead of a conventional motion pair. In the aspects of the kinematics modeling of the flexible parallel structure with large aspect ratio, the mathematical model of the flexible hinge with large aspect ratio is derived by using the basic principle and the small deformation assumption of the material mechanics, and the explicit expression under the global coordinate system is given; on this basis, In this paper, the dynamic expression of the flexible branch of the parallel structure of the flexible hinge with large length-diameter ratio is established by the method of the set of stiffness, and the position solution model of the parallel structure is established by the simultaneous motion displacement coordination equation and the force-constrained coordination equation. As each component in the parallel structure system, in particular the flexible hinge structure, provides the motion output of the whole structure in the self-deformation, a large-range rigid body motion is also experienced, leading to a typical geometric non-linear problem of the position solution model of the large-diameter ratio flexible parallel structure. In view of this, this paper first deduces the geometric non-linear stiffness recurrence model of the space flexible structure, and uses the Newton-Leverson method to solve the model. Due to the iterative solution of the geometric non-linear model, the real-time property of the model is poor, the control system is not easy to be transplanted to the control system for real-time control solving, the BP neural network method is selected, and the position solution neural network structure of the three-layer six-input-six output is established, So that the real-time control programming is convenient, and the solution speed of the position solution of the system is greatly improved. Because the position solution model of the flexible parallel structure is not only the position information in the structure, but also the related force information and the rigidity information in the structure, the stiffness model of the system is given on the basis of the above-mentioned position solution model, The comprehensive and optimized design of this kind of system provides a powerful tool. A 3-PPSR parallel robot system with a large aspect ratio flexible hinge as a passive joint is set up in the aspect of a prototype experiment of a large aspect ratio flexible parallel structure, a piezoelectric motor is used as a driver, and a precision grating ruler is used as a position feedback element, Which can achieve the motion of micron-level accuracy in a cubic centimeter of working space. The steady-state error of the binding force tracking model can accurately control the external environment force by adjusting the initial reference position. The self-adaptive stress control based on the position-based external force tracking control and the uncertainty of the external environment variable under the condition of known exact external environment variables is analyzed and the self-adaptive stress control is realized by using the control force deviation of the adaptive controller under the condition that the external environment variable is not determined. The invention relates to a piezoelectric ceramic motor driven parallel robot system based on a large aspect ratio flexible hinge, which can simultaneously meet the engineering requirements of large working space and high precision.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP242
本文編號：2431658
[Abstract]:With the development of the robot technology, the types of the robots suitable for special operation are also increasing, and the application fields of the robot are expanding to the industries of micro-electronic manufacturing, MEMS packaging and assembly, high precision mechanical processing and assembly, biochip preparation, large-range high-speed scanning and detection equipment and the like. With the development of the robot, the performance index of the robot is higher and higher, the high positioning precision, the high repetition precision and the high resolution of the robot are pursued, the working range of the robot is large, the quality is light, the energy consumption is low, So that the design of the robot structure is required to be higher. Under such a premise, as an important branch of the development of the robot technology, the micro-operating robot is a very active research field in robotics. Based on the extensive analysis of the existing flexible precision positioning system and parallel precision positioning system, the concept design of flexible hinge is put forward for the application of large-range motion positioning and high-precision positioning. In order to meet the positioning requirement of the ultra-high precision, the piezoelectric ceramic drive is integrated in the parallel branch chain, and the design idea of the drive, the structure and the detection integration is fully reflected. In the aspect of the design of the structural unit, the concept design of the flexible hinge with large aspect ratio is proposed on the basis of the universal ball pair and the rotating auxiliary flexible hinge based on the universal ball pair and the rotating auxiliary flexible hinge, and in the aspect of the design of the flexible parallel structure, In this paper, a parallel structure system based on large aspect ratio flexible hinge is established in a general parallel structure system, which is replaced by a large aspect ratio flexible hinge instead of a conventional motion pair. In the aspects of the kinematics modeling of the flexible parallel structure with large aspect ratio, the mathematical model of the flexible hinge with large aspect ratio is derived by using the basic principle and the small deformation assumption of the material mechanics, and the explicit expression under the global coordinate system is given; on this basis, In this paper, the dynamic expression of the flexible branch of the parallel structure of the flexible hinge with large length-diameter ratio is established by the method of the set of stiffness, and the position solution model of the parallel structure is established by the simultaneous motion displacement coordination equation and the force-constrained coordination equation. As each component in the parallel structure system, in particular the flexible hinge structure, provides the motion output of the whole structure in the self-deformation, a large-range rigid body motion is also experienced, leading to a typical geometric non-linear problem of the position solution model of the large-diameter ratio flexible parallel structure. In view of this, this paper first deduces the geometric non-linear stiffness recurrence model of the space flexible structure, and uses the Newton-Leverson method to solve the model. Due to the iterative solution of the geometric non-linear model, the real-time property of the model is poor, the control system is not easy to be transplanted to the control system for real-time control solving, the BP neural network method is selected, and the position solution neural network structure of the three-layer six-input-six output is established, So that the real-time control programming is convenient, and the solution speed of the position solution of the system is greatly improved. Because the position solution model of the flexible parallel structure is not only the position information in the structure, but also the related force information and the rigidity information in the structure, the stiffness model of the system is given on the basis of the above-mentioned position solution model, The comprehensive and optimized design of this kind of system provides a powerful tool. A 3-PPSR parallel robot system with a large aspect ratio flexible hinge as a passive joint is set up in the aspect of a prototype experiment of a large aspect ratio flexible parallel structure, a piezoelectric motor is used as a driver, and a precision grating ruler is used as a position feedback element, Which can achieve the motion of micron-level accuracy in a cubic centimeter of working space. The steady-state error of the binding force tracking model can accurately control the external environment force by adjusting the initial reference position. The self-adaptive stress control based on the position-based external force tracking control and the uncertainty of the external environment variable under the condition of known exact external environment variables is analyzed and the self-adaptive stress control is realized by using the control force deviation of the adaptive controller under the condition that the external environment variable is not determined. The invention relates to a piezoelectric ceramic motor driven parallel robot system based on a large aspect ratio flexible hinge, which can simultaneously meet the engineering requirements of large working space and high precision.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TP242
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