【作者】 杨军；

【导师】 谭定忠；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2008， 硕士

【摘要】 为解决传统机械手只能应用于特定任务的问题,使机器人末端执行机构适应多种复杂任务,能够进行柔性抓取。本课题进行了变抓取力欠驱动机械手的机械结构设计与控制系统研究。变抓取力欠驱动机械手是智能机器人的关键技术,有着广阔的应用前景。本文所研究的变抓取力欠驱动机械手是直流伺服电机驱动的三指机械手,手指是由四连杆机构和平行限位机构组成,带有可调整机械手抓取位姿的转动机构,可实现对物体的柔性包络抓取。整个系统设计完成了控制系统、传感系统、传动系统设计。控制系统的设计要求根据传感器信号判断系统状态,对传动系统发出指令,实现实时控制。控制系统还要能够检测滑动,感知目标方位,进行异常中断处理。传动系统采用直流伺服电机作为动力源,微型丝杠作为运动形式转换部件。对于轴间的联接以及过负载的处理本文采用微型滚珠式扭力限制器。力觉传感器采用PVDF压电薄膜力觉传感器,滑觉传感器采用振动滑觉传感器,接近觉传感器则是超声波接近觉传感器。完成了各传感器发送接收、功率放大、控制接口等相关电路设计以及传感器的标定。更多还原

【Abstract】 Traditional manipulator can only applied in simple special task. In order to make the manipulator adapt to a variety of complex tasks, the mechanical structure and the control system of the underactuated manipulator are designed. Underactuated manipulator is the key technology of intelligent robot; it has broad application prospects.Underactuated manipulator is powered by magnetic stepping motor. It has three fingers. The finger consists four bar linkages and parallel spacing bodies. With adjustable manipulator crawl posture rotation, the object can be captured flexibly. The entire system design of the control system, the sensor system, transmission system is completed. The design of the control system should fulfill the requirements that the manipulator can judge the state of the system on the signals of the sensors. Issues the instruction to the transmission system, realizes the real-time control. The control system should also detect the slipping, find out the position of the object, and handle the abnormal interrupt.Stepper motor drive system is used as a power source. The micro-lead screw transforms the circular motion into line motion. The ball-torque force limiter is used as the connection of the shaft; when the load is over the ability, the ball-torque force limiter will handle it. Optical fiber force sensor is used as force sensor. Vibration sliding-detection sensor is used as a sliding detector. The ultrasonic sensor is used as a position sensor. Completed the sensor receiver, power amplifier, and control interface circuit design and related sensor calibration.Through the mechanical-electronically test proves that the underactuated manipulator work well.更多还原