【作者】 李佳；

【导师】 王兴松；

【作者基本信息】 东南大学 ， 机械电子工程， 2016， 硕士

【摘要】 套索传动机构在机器人设计中是一个重要的研究方向。由于其具有体积小、结构简单和质量轻等优点,套索传动机构主要应用在一些受空间限制的场合,如手术机器人、搜救机器人等。然而,套索系统的控制却是一个关键性难题。一方面,套索系统存在着运动间隙、张力衰减等非线性现象；另一方面,空间限制、消毒安全等问题限制了末端传感器的安装。这些都阻碍了套索系统应用在一些需要精密控制的场合。针对这些问题,本文对套索传动系统的建模以及末端无反馈的补偿控制方法进行了深入的研究,并针对套索传动系统操作对象的特殊性,进行了相应的柔顺性控制研究,提高其操作安全性。分析套索驱动机构的拉力传递特性,建立套索系统的静态和动态的拉力传递模型。基于静态拉力传递模型,提出了末端无传感器的拉力补偿控制方法。搭建了基于MATLAB的半物理控制的实验装置,实验验证了所建立的拉力传递模型及拉力补偿控制算法。分析套索驱动机构的位移传递特性,建立套索系统的静态和动态的位移传递模型。分别基于静态和动态位移传递模型,提出了逆模补偿控制和迟滞前馈控制两种控制策略。实验验证了所提出的位移传递模型和位移精密控制算法。为了实现软操作要求,进行了柔顺性控制研究。基于被动柔顺控制理论,设计了柔顺性末端执行器,并进行了相应的实验研究。基于主动柔顺控制理论,分别设计了阻抗控制和力／位混合控制算法,并进行了实验验证。更多还原

【Abstract】 Tendon-sheath actuated mechanism is an important orientation in the field of robotic design. Due to its small size, simple structure and light weight, the tendon-sheath system is often adopted in many applications with spatial restrictions, such as rescue robot and surgical robot. However, the control of these systems could be challenging. On one hand, there exist a lot of nonlinear factors including the compliance and friction between the tendon and sheath; on the other hand, due to spatial restrictions and disinfection requirements, it lacks corresponding sensory feedback. These problems hinder the application of the tendon-sheath systems in situations where precise control is required. To solve the problems, this paper conducts studies on the modeling as well as compensation control method. In addition, due to the particularity of operation object, compliance control research is carried out.Through the analysis of force transmission characteristics, the static and dynamic force transmission models are established. Based on the static force model, this paper proposed a compensation control method without the sensory feedback. In addition, a semi-physical real-time control system is developed based on MATLAB/RTW. The proposed force transmission models and control method are verified via experiments.Through the analysis of displacement transmission characteristics, the static and dynamic displacement transmission models are established. Two control methods are proposed based on the displacement models respectively. Verification of the proposed displacement transmission models and control methods are realized through experiments.In order to achieve the goal of soft operation, the compliant control research is conducted. To carry out the passive compliance control, a compliant end-effector is designed. Besides, some research is developed on active compliance control.更多还原