【作者】 陈雷；

【导师】 崔根群；

【作者基本信息】 河北工业大学 ， 机械设计及理论， 2006， 硕士

【摘要】 串联机械手的运动学和动力学问题一直是机器人学的一个重要分支,也始终是一个研究重点。实践中,遇到了这样的问题:随着我国石化工业的发展,各类化学反应容器和输送管道的泄漏检测与维修已经成为石化工业亟待解决的关键技术。由此,具有自主能力的移动机械手便成为辅助或代替人类完成高度危险性修补作业的最佳选择。 本文正是在国家863计划项目“化学危险反应器泄漏检测与修补移动机械手系统”(项目编号:2003AA421040)的支持下,以美国ActivMedia Robotics公司生产的Pioneer 3-AT型移动机器人和本课题组自主研制的Hebut-2型机械手为研究对象,对五自由度机械手的运动学和动力学问题进行了研究。 首先,本文论述了移动机械手及其仿真分析在国内外的研究现状,介绍了机械手运动学和动力学的基础理论和Hebut-2型移动机械手的基本结构特征;以此为基础,利用UG软件建立了五自由度机械手的三维模型,并导入ADAMS中建立了该机械手的虚拟样机。 本文对五自由度机械手进行了正运动学和逆运动学分析,推导了机械手关节速度和雅克比矩阵;同时利用ADAMS软件强大的仿真功能,对机械手进行了运动学仿真,同时在仿真中也可以实现对其运动学理论解的验证。 然后,本文仿真分析了该机械手的工作域,得到了带负载状态下它的有效工作范围。 最后,本文从理论上对机械手进行了动力学分析,由此确立力、质量和加速度以及力矩、惯量和角加速度之间的关系。再根据机械手末端执行器的运动情况完成了相应关节力矩的计算,以使它们能以期望的加速度和速度运动,保证良好的位置精度。同时也对机械手的虚拟样机进行了动力学仿真分析。另一方面,也在ANSYS软件中用有限单元法对机械手样机进行了网格划分,完成了机械手的静力学分析。更多还原

【Abstract】 Usually the study on kinematics and dynamics for serial manipulator is an important branch of Robotic Science. In practice, we have met this problem: with the development of petrochemical industry of our country, the measurement and maintenance for the chemistry leakage from chemistry reactors and pipelines has become necessary technology to petrochemical industry. Because of the harmfulness of the chemicals, the mobile manipulator with independent ability becomes the best choice of mending work, replacing or helping mankind finish the highly dangerous work. At the same time, mobile manipulator has a brand new future in social public security and military affairs, for example dismantling explosives or tinder, anti-terrorism, etc. The thesis is carried on the research to the coordination-controlling for mobile manipulator, supported by a National Program 863 item— "The Mobile Manipulator system aimed at measurement and maintenance, working in the circumstance of chemistry dangerous leakage from the chemistry dangerous reactor"(item serial number: 2003AA421040).First, analysis the improvement of research on kinematics and dynamics of manipulator, describe Hebut-2 mobile manipulator’s basic structure characteristics, use Unigraphics NX2.0 build a 3D model of manipulator with five degree of freedom, and then build a brief model in ADAMS2003. Then, analysis DKP(Direct Kinematics Problem) and IKP(Inverse Kinematics Problem) of manipulator. At the same time, finish the simulation of kinematics with ADAMS, to validate the solution of DKP and IKP.Secondly, find the work space of Hebut-2 manipulator with ADAMS model, find the effective work area when manipulator carried 5 kilogram load.Thirdly, based on dynamics sub-models——manipulator, so the relations between force, mass and acceleration, torque, inertia and angle acceleration is explained. At last, finish the calculation of the corresponding joint torque according to the movements of the manipulator in order to guarantee the better position precision and expected speed and acceleration. At the same time, the whole dynamics model is established in ADAMS. Finally, finish statics analysis of the manipulator in AN SYS.更多还原