机器人智能关节驱控结构一体化设计方法研究

为减少纺织机器人所占空间并提高其控制性能,研制了一款用于落纱理管的新型纺织机器人腰部关节。采用有刷电动机为动力源,以STM32F103T8U6为主控芯片,以L9110S为驱动芯片,利用磁编码器AS5600与安装在输出轴末端的磁铁产生霍尔效应,实现腰部关节速度、位置的检测;通过对比单速度闭环控制和转速、电流双闭环系统,在控制算法上采用转速、电流双闭环比例积分(PI)控制系统进行调速;采用控制器局域网络(CAN)总线通信,以减少多关节布线的复杂程度。结果表明,所设计的机器人关节能有效减小体积,体现微型化设计,且使用范围更广泛,双闭环控制系统达到稳态的时间比单闭环控制缩短了30%。

Research on integrated design method of robot intelligent joint drive and control structure

In order to reduce the space occupied by textile robot and to improve its control performance, a new type of textile robot waist joint used for doffing management was designed, which used a brushed DC motor as the power source, STM32F103T8U6 as the main control chip, and L9110S as the driving chip. The magnetic encoder AS5600 and a magnet installed at the end of the output shaft was used together to generate the Hall effect to facilitate the speed and position detection of the robot joint. By comparing the corresponding speed and current of the single-speed closed-loop control with that of the double closed-loop control, this research adopted the speed and current double closed-loop proportional integral (PI) control system for speed regulation in the control algorithm, and the controller area network (CAN) bus method was used to achieve signal transmission so as to reduce the complexity of multi-joint wiring. The experimental results show that the designed robot can effectively reduce the joint volume with the miniaturization design, and has a wider range of use. Compared with the single closed-loop control system, the double closed-loop control system shortens the steady-state time by 30%.