基于AVR平台的六自由度仿人机械手臂控制算法研究

传统机械手臂各关节常用电机来驱动,其驱动系统较为复杂,设计难度较大。提出以AVR为控制平台,以舵机作为机械臂各关节驱动,并着重介绍了基于舵机特有的工作方式而提出的一种可以对该机械臂各关节运动速度、方向和运动量进行控制的算法。该算法同时还具备可扩展性等优点,即可以对由舵机驱动的更多自由度的机械手臂进行实时控制。     

面向虚拟装配与遥操作的新型数据臂设计

数据臂是可佩戴的人机交互设备。首先综述了国内外数据臂的研究,其次基于平面四杆机构和空间机构运动的确定性原理,设计了一种机构测量式的新型7自由度外骨架数据臂,给出了机构简图和数据臂测量人手臂运动信息的机构原理、建立了传感器与测量关节之间数学关系模型,探讨了一般异构机器人的控制方法,然后加工出样机数据臂并进行了走直线轨迹和圆轨迹试验、遥操作控制试验,给出了数据臂的试验曲线,证明了数据臂应用于遥操作控制等领域的有效性。     

线缆搬运机器人手臂的机械系统设计

针对传统人工搬运码垛存在的劳动强度大、工作效率低等问题,设计了一种用于成卷线缆搬运的六自由度机器人手臂。结合工作任务的要求以及运动空间,确定了机器人手臂的运动形式和关节配置,详细设计了机械臂主要关节的结构,并对关键结构件进行了工作能力校核。     

基于MATLAB与ADAMS的机械臂仿真分析

以六自由度机械手臂为研究对象,对机械手臂的基本结构进行简化,基于D-H法,建立机器人手臂的连体坐标系;基于MATLAB的Robotics Toolbox工具箱建立机械手臂的数学模型,同时采用五次多项式方法对机械臂关节空间进行轨迹规划,并进行仿真。利用机械系统动力学软件ADAMS创建机械手臂的虚拟样机。将轨迹规划仿真数据作为驱动,对机械手臂进行动力学仿真,得出各个轴所受力矩变化情况。     

多关节单创口腹腔微创手术机器人设计

设计了一种基于模块化的多关节单创口腹腔微创手术机器人,由机械臂和动力部分组成,机械臂包含一个连接架和两条结构相同的手臂,安装在一个4个自由度的SCARA机器人的末端上。涉及的机器人能够在病人腹腔内部组合,并且采用双臂协同操作,每条手臂(含刀头)具有3个自由度,使得手术操作更加灵活和精确。还对该机械臂进行了正运动学和逆运动学的分析,经过仿真计算表明该机器人针对腹腔可以实现单创口手术的基本动作,且创口直径仅为12mm左右,基本满足腹腔微创手术的操作要求,验证了该设计的合理性和可行性。     

六自由度机械臂的动力学仿真及控制

介绍了一种六自由度机械臂装置,分析了六自由度机械臂的基本理论知识,在SolidWorks软件中建立了六自由度机械臂的模型。然后将模型导入ADAMS中,建立动力学仿真模型,通过对机械臂各部件运动的仿真分析,得出每个关节达到指定转速所需力矩,从而为各关节电机的选型提供依据。最后使用MATLAB与ADAMS进行联合仿真,在Simulink中建立控制方案,实现对机械臂各关节角的精确控制,为六自由度机械臂的发展提供设计参考及依据。     

改进型PYR全方位关节及在柔性臂中的应用

深入剖析了PYR型关节机构,在总结以往研究基础上集中解决该类手腕、关节机构的进一步小型化以及存在的刚度问题,研制出了新型PYR关节及手腕机构;基于模块化、组合式设计思想,研制了七自由度仿人手臂。本研究的意义还在于,基于这种小型化、模块化的PYR关节,很容易设计、研制多自由度柔性手腕、机器人柔性臂,从而为汽车、空间领域提供高灵活性的机器人新机构。     

基于解耦的柔性关节机械臂振动抑制方法研究

针对多自由度柔性关节机器人手臂残余振动抑制问题,对双杆机械臂关节耦合及振动抑制方法进行了研究,提出了基于解耦的柔性关节振动抑制控制算法。首先,根据拉格朗日方法建立了系统的动力学模型。然后,分析了关节间存在的相互作用力及关节间的相互耦合对机械臂振动抑制的影响。利用模糊补偿控制方法对二自由度柔性关节机械臂进行了模糊解耦,并在解耦的基础上引入零振荡整形器(ZV整形器)对解耦后的各个单关节进行进一步控制,以抑制各臂杆由于关节刚度不足导致的残余振动。最后,通过数值算例进行了仿真,验证了该算法的有效性。研究结果表明,加入解耦环节之后,两杆的相互干扰明显减弱,耦合度明显降低,使该非线性系统近似成为线性系统,再通过零振荡整形器对各关节运动加以优化,使得机械臂的残余振动得到了有效的抑制。     

六自由度柔性关节机械臂的动力学分析

大多数的机器人都是在刚体动力学假设的基础上进行运动控制设计的,因此其在实际操作中的精度和效率受到一定的限制,而柔性机械臂可以很好地解决此类问题。首先给出了六自由度的柔性关节机械臂的简化模型,利用拉格朗日方法建立其动力学方程;然后以单自由度柔性关节机械臂为例,基于神经网络反演法对其控制率进行了设计;最后基于Simulink验证了控制器设计的有效性。     

六自由度机械臂运动学分析与仿真研究

针对六自由度机械手臂的运动学分析问题及其工作可靠性的探究,设计开发了一套基于OpenGL的六自由度机械臂仿真软件.采用D-H参数法构建机械臂模型,对六自由度机械手臂进行了正、逆运动学分析,求解得到机械臂的正逆解.研究设计了机械臂的空间直线和圆弧插补算法,实现了机械臂在三维空间中按照目标轨迹的可靠运动.在VS2017软件...     

虚拟技术在汽车起重机变幅机构设计中的应用

以QY20汽车起重机为研究对象,利用ADAMS软件建立了QY20汽车起重机变幅机构的虚拟样机,并对汽车起重机变幅机构的工作过程进行仿真,获得了变幅油缸中变幅力随时间变化的曲线.据此,以变幅过程中变幅油缸负载力波动值最小为目标,对变幅机构三铰点位置进行了优化.结果表明,优化后的铰点位置改善了变幅油缸活塞杆与吊臂相连铰点的受力状况,减少了对变幅液压系统的压力冲击.     

可重构空间故障容错机械臂设计

从机械臂运动学的角度，定义了故障容错机械臂、故障容错机械臂的阶、通用故障容错机械臂和特定任务故障容错机械臂，论证了通过运动学关节冗余也同样可以提高机械臂系统的可靠性，故障容错机械臂所应该具备的自由度数，以及针对不同的任务要求，设计故障容错机械臂的方法。通过将任务空间抽象简化为一系列的特征点，建立机械臂参数与理想值相关的罚函数，选择有效的优化算法，设计出了通用一阶故障容错平面位置机械臂，通用一阶故障容错空间位置机械臂，以及特定任务一阶故障容错平面位置机械臂，建立起完整的故障容错机械臂的设计方法。     

Dynamic optimization of robot arm based on flexible multi-body model

This paper examines the effect mechanism of torsional stiffness on flexible joints and the dynamic optimization of a six Degree-of-freedom industrial robot arm. The design optimization of the robot arm is investigated based on the rotor-torsional spring model and finite element method. The flexible multi-body dynamic model of the robot arm are established by considering the flexible characteristics of arms and joints, and the natural frequencies of a robot arm are calculated to obtain the torsional stiffness of the flexible joints. Natural frequency results gradually increased with joint stiffness improvement. Using the established dynamic model, the topology optimization on the robot arm is carried out by regarding lightweight as design goal and total displacement as constraints. The tare-load ratio and dynamic performance of the optimized robot arm are significantly enhanced compared with the original design model. This research can provide the theoretical basis for the dynamic optimization and upgrade of lightweight robot arm.     

Multiple degrees-of-freedom arm with passive joints for on-the-machine measurement system by calibrating with geometric solids

To fabricate three-dimensional profiles with high accuracy, on-the-machine measurement is useful. Methods for the on-the-machine measurement by calibration with geometric solids used for references have been developed. In this paper, an arm with passive joints for on-the-machine measurement is proposed. As a prototype, the arm has 4 degrees of freedom (DOF) including two passive joints. The probing system has 7 DOF, including the DOF of the machine tool, in total. Angles of the passive joints are changed by driving the numerically controlled (NC) table and the main spindle of the machine tool, where the arm is mounted. To calculate the optimal posture of the arm for the shape to be measured, a numerical method of the inverse kinematics is also proposed. The arm has enough positioning accuracy to calibrate its posture. Shapes can be automatically measured with the accuracy of micrometer order by the on-the-machine measurement method as well as a commercial three-dimensional (3-D) coordinate measuring machine and a profilometer.     

基于柔性多体动力学的机械臂结构优化设计

针对柔性关节对工业机器人动力学特性的影响,基于“转子-扭簧”模型和有限元法,研究关节刚度对机械臂固有动力学特性的影响规律;考虑臂杆柔性和关节柔性,建立了机械臂多柔体动力学有限元模型,以机械臂轻量化为设计目标,以末端总位移量为约束条件对机械臂结构进行优化。研究结果表明,不同关节刚度对机械臂各阶固有频率的影响不同,优化后的机械臂载重/自重比增大,刚度和强度均得到提高,整体动力学性能明显提高。     

Analysis of human arm movement during vehicle steering maneuver

The analysis of human arm motion during steering maneuver is carried out for investigation of man-machine interface of driver and steering system Each arm is modeled as interconnection of upper arm, lower arm, and hand by rotational joints that can properly represents permissible joint motion, and both arms are connected to a steering wheel through spring and damper at the contact points The joint motion law during steering motion is determined through the measurement of each arm movement, and subsequent inverse kinematic analysis Combining the joint motion law and inverse dynamic analysis, joint stiffness of arm is estimated Arm dynamic analysis model for steering maneuver is setup, and is validated through the comparison with experimentally measured data, which shows relatively good agreement To demonstrate the usefulness of the arm model, it is applied to study the effect of steering column angle on the steering motion

     

Kinematic design of an anthropomimetic 7-DOF cable-driven robotic arm

In this paper, an anthropomimetic design of a 7-DOF dexterous robotic arm is proposed. Similar to the human arm, the arm consists of three sequentially connected modules, i.e., a 3-DOF shoulder module, a 1-DOF elbow module, and a 3-DOF wrist module. All three arm modules are also driven by cables in order to mimic the driving scheme and functionality of the human muscles. This paper addresses three critical design analysis issues, i.e., the displacement analysis, the tension-closure analysis, and the workspace analysis. A closed-form solution approach is presented for the forward displacement analysis, while the inverse displacement solution is obtained through an efficient optimization algorithm, in which both task-decomposition and dimension-reduction techniques are employed. An effective tension-closure analysis algorithm is also formulated based on the theory of convex analysis. The orientation workspace for the 3-DOF shoulder and wrist modules are then analyzed using a new equi-volumetric partition scheme based on the intuitive Tilt-and-Torsion angle parameterization. An optimization approach is then investigated for the kinematic design of the three joint modules, in which the design objective is to maximize the matched workspace of the robotic arm joints with that of the human arm joints. A research prototype of the 7-DOF cable-driven robotic arm has also been developed in order to demonstrate the anthropomimetic design concept. With a lightweight structure of 1 kg, the cable-driven robotic arm can carry a payload of 5 kg and has motion repeatability of±2.5mm.     

一种面向航天需求的仿生柔性机械臂的设计

针对航天器舱内环境的障避实际需求,基于自然界象鼻的内部肌肉结构分布特点,设计一种多冗余自由度仿生柔性机械臂。该机械臂由8个柔性关节组成,每个柔性关节具有3个自由度,相比传统机械臂,具有结构紧凑、刚度较高、运动灵活、操作空间广泛等特点。针对所提出的单个柔性关节与多个关节组成的仿生柔性机械臂进行运动学建模分析。利用制作的仿生柔性机械臂,进行航天避障任务试验,验证了该机械臂结构的可行性。     

Development of a new 5 dof mobile robot arm and its motion control system

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers were developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the OpenGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.     

双臂机器人轴孔装配的运动学关系分析

研究了双臂进行轴孔装配的运动学约束关系。双臂协调作业的关键,在于根据作业要求确定双臂运动的约束关系。结合轴孔装配的特点,推导了主从臂在位置、方位、关节速度和关节加速度上的完整约束,由主臂的运动变量来规划从臂的运动变量。仿真结果表明所建立的约束关系,能确保轴孔装配的顺利完成。