【作者】 吴鹏；

【导师】 谭跃刚；

【作者基本信息】 武汉理工大学 ， 机械电子工程， 2004， 硕士

【摘要】 非完整系统的运动约束不可积，因而具有可用较少的控制输入数确定其比控制输入空间维数大的位形空间内的运动。在本文尝试利用机械手的这一性质，设计具有非完整特性的机械手，以解决机械手设计过程中的驱动单元问题。 本文分析了一种摩擦圆盘传动机构的运动原理，证明了该结构的为非完整机构的条件，并总结出该结构的实际上为我们可以认为非完整传动机构实质上就是一种变传动的变速机构。而后，以摩擦原盘机构为传动机构，完成了机械手的设计。在对机械手原理图进行分析的基础上，得到了该机械手的运动方程，并完成了链式变换，结果显示该机械手为单链系统。由于单链系统是全局可控的。从而间接的证明了该机械手的可控性。 本文的另一重点是机械手的3D模型的建立和控制算法的模拟。在介绍了软件中机械系统的拓扑结构和坐标变换的方法后，在Pro／E中建立了机械手的3D模型；解决了模型建立过程中的零件模型的简化、零件的装配、摩擦圆盘机构的理想化、模型中电动机的转动方向等问题。模型的建立为机械手的路径规划和控制提供验证平台，而后用该模型对控制算法进行了模拟。在模拟过程中，发现了机械手的运动存在较为严重的干涉问题。经分析后发现主要是由于采用的控制方法是最小时间控制，造成了机械手各关节的角位移太大，从而产生了干涉。更多还原

【Abstract】 Nonholonomic machine system has a character that the number of dimensions of input space is fewer than that of controllable posture space. The character is very helpful in the design of manipulator because it can be used to simplify the system sharply.In this paper, a rub disc movement decomposition organization is firstly analyzed and proved to be a nonholonomic system. In fact, it is a speed changing mechanism the radio of which is variable. Then it was used as joint to form a manipulator with four links. The chained form conversion had been done after the analysis of the constraints of the manipulator. The result of the conversion shows that the manipulator is a single chained form system. Because of the controllability of single chained form systems, then the system is also controllable.Another emphasis of this paper is the establishment of 3D model of the manipulator and the simulation to the control method of the manipulator. After the topological structure of machine system and the method of conversion of coordinate are introduced, 3D model of the manipulator had been set up in Pro/E. In the process, several problems had been solved, such as simplification of part model, assembly, idealization of rub disc movement decomposition organization. Then the simulation of control arithmetic had been done. In the simulation it was found that there was interference when the manipulator moved. It is because the manipulator is controlled by minimum time method. The method has no constraints about angle displacement.更多还原