【作者】 张红岩；

【导师】 龙泽明；

【作者基本信息】 佳木斯大学 ， 农业机械化工程， 2015， 硕士

【摘要】 当今科学技术飞速发展,机器人技术已经得到越来越广泛的应用。随着机器人的不断成熟,一些制约其发展的因素也逐渐显现出来。目前应用普遍的机器人对自身重量相当或更大的负载时往往不能保证其精确的定位精度。较大型设备及零件的搬运、装配由于对精度的要求较高仍然需要借助吊车进行人工操作。因此重载机器人精密定位研究已逐渐成为机器人的未来发展趋势之一。本文提出的复合驱动关键技术,是以重载机器人关节臂为试验研究对象进行分析研究。利用复合驱动液压马达体积小出力大、伺服电机定位精度高的特点,可较大幅度地提高重载机器人的综合性能。复合驱动由液压马达、液压比例控制系统、关节臂、扭矩传感器、伺服电机和编码传感器组成。通过伺服电机轴上的扭矩传感器和编码器实时获取液压马达驱动关节臂扭矩和伺服电机实际转角位置信号,并与控制器中给定的设定扭矩和转角指令值进行比较,调节液压比例控制系统的压力和流量来调整液压马达实际驱动伺服电机的扭矩。从而实现伺服电机借助于液压马达对重载机器人关节臂扭矩负载和转角位置的双重控制。在研究现有的液压伺服系统与电机驱动伺服系统的基础上,经过理论分析研究,建立了复合驱动控制系统的物理模型;详细分析了复合驱动控制系统的控制策略,对其液压系统和电机系统之间的相互关系进行研究;设计并搭建了系统的外部控制电路,设计了系统的软件并编写了系统的控制应用程序;对系统所需要的PWM脉冲信号在不同占空比的情况下进行了试验仿真,得出了相关的实验数据及结论;通过对系统的策略分析分别应用液压伺服系统和电机伺服系统的相关知识建立了复合驱动控制系统的数学模型,从扭矩性质的这个角度证明了伺服电机系统与液压系统复合而产生的总扭矩的合理性,从理论上再次验证了复合伺服驱动的正确性。通过对系统的试验,使复合驱动系统能够完成相应的动作,对得出的数据进行分析和研究,验证了复合驱动控制技术的可行性与合理性。更多还原

【Abstract】 With the rapid development of today’s technology, robotics technology has been widely applied. As robots matures,some factors restricting its development also gradually revealed.Currently the general application of robotics often can not guarantee its precise positioning accuracy when it is on its own weight or greater load.Larger equipment and parts handling, assembly still need the help of a manual crane due to higher accuracy requirements.So overloaded robotic precision positioning technology has become one of the future trends of the robot.This paper puts forward a new hydraulic motor and servo motorcoordination control implementation of key technology of compound driveon an overloaded joint of robot arm. Composite driven by hydraulic motor has the advantages of small size, high output force servo motor positioning precision high characteristic, can greatly improve the comprehensive performance ofheavy duty robot.Composite drive consists of a hydraulic motor, hydraulic proportional control system, articulated arm,torque sensor, servo motor and encoder sensor. Driving joint arm torqueand servo motor actual angle position signal through real-time acquisition of hydraulic motor torque sensor and the encoder on the shaft of the servo motor, and compared with the controller given in the instruction settorque and angle values, pressure and flow control system of hydraulic proportional adjustment to adjust the hydraulic motor actual driving torque and angle error of servo motor always in its restricted range. So as to realize the servo motor by means of dual control on hydraulic motorload on the overloaded the joint of robot arm torque and angular position.Based on the study of existing hydraulic servo motor drive servo system, a physical model of the composite drive control system was established in this paper through theoretical analysis;Complex control strategies of drive control system was analyzed in detail to study its relationship between the hydraulic system and the motor system;Design and build a external control circuits of system was designed and built, software of the system was designed and a control application was compiled;The PWM pulse signal required for the system was carried out simulation tests, relevant experimental data and conclusions was obtained;Through the system of strategic analysis,the mathematical model of the composite drive control system was established in application of related knowledge of the hydraulic servo motor servo systems.From this perspective of torque nature, the proof of servo motor system is reasonable and complex hydraulic system generated total torque theoretically has once again proven the correctness of complex servo drives. In theory, demonstrate the validity of the composite servo drive again. Through the system of the test, Make the compound drive system to complete the corresponding action, analyze the test data and research, To verify the feasibility and rationality of compound drive control technology.更多还原