【作者】 陈翔；

【导师】 唐建中；

【作者基本信息】 浙江大学 ， 机械电子工程， 2018， 硕士

【摘要】 人们对于机械臂的研究由来已久,但大多应用于工业生产中的大型机器人,而对于类人型机器人机械臂的机构研究相对较少。人们在不断找寻与人类肌肉具有类似特性的传动方式,现在研究出来的主要有液压肌肉、气动肌肉等,这些人工肌肉都有各自的弊端。本文主要研究一种基于钢丝绳的腱传动系统,并实现对该系统的精确控制。在对腱传动系统的研究中发现,系统的柔性以及传动空回是暂时已知的会影响系统控制性能的因素,针对这些缺陷,设计适用于本系统的控制器来获得更好的控制性能。论文首先研究了柔索腱传动的典型形式,并类比齿轮中的齿隙模型,对腱传动中产生的空回现象进行数学模型总结分析,选取适用于本系统的空回模型,并对绳索传动空回的产生原因进行分析。本文设计了一套符合系统设计指标的模块化关节,并在此基础上设计了机械臂肩部腱传动系统。针对该传动系统,主要解决系统的柔性及传动空回的影响。为实现系统良好的传动性能,先对传动系统进行动力学建模分析,并分析比较了 PID控制、反步自适应等控制器设计方法,主要研究了采用反步法设计系统控制器,该控制器的使用较好地解决了系统中存在地柔性以及传动空回的影响。本文对控制策略进行了仿真分析,比对了 PID控制及反步法控制的控制性能,理论上验证了反步法自适应控制器对系统的柔性及空回有较好的控制效果。最后,本文对所搭建的实验系统平台进行相关性能的验证,并针对反步法设计的控制器进行相关的实验验证。通过实验结果分析比对,反步自适应控制器对实际系统的传动仍具有良好的性能。更多还原

【Abstract】 The research on the mechanical arm has a long history,but it is mainly used in the large-scale robot in industrial production,while the research on the mechanism of robot arm is relatively small.People are constantly looking for a transmission that is similar to the human muscle,and now the research is mainly about hydraulic muscles,pneumatic muscles,and so on,and these artificial muscles have their own disadvantages.This dissertation mainly studies a tendon-drive system based on wire rope,and realizes the precise control of the system.Found in the study of tendon transmission system,the flexible of the system and drive back to the empty is temporary factors known to affect the system control performance,aiming at these defects,design a suitable controller to get a better control performance of the system.The dissertation firstly studied the typical form of soft cable tendon transmission,and analogy gear backlash in the model,analyzing the mathematical model of the backlash phenomenon of tendon transmission,choosing a backlash model which is suitable for the system,and analyze the causes of the rope driven backlash.In this dissertation,a modular joint with system design index is designed,and the mechanical arm and shoulder tendon transmission system is designed.Aiming at the transmission system,the influence of the system’s flexibility and the transmission backlash is mainly solved.For the realization of the system performance of transmission,the first to conduct dynamic modeling analysis.,and analyzed the design methods of PID controller and the backstepping adaptive controller,mainly studied the backstepping adaptive controller for system controller design,the use of the controller better solved the system flexible,and the influence of the backlash.In this dissertation,the control strategies are analyzed in the simulation,compared the control performance of PID controller and the backstepping controller,theoretically verified the backstepping adaptive controller have a good control effect on the system of flexible and backlash.In the end,this dissertation verifies the relevant performance of the experimental system platform,and conducts relevant experimental verification for the controller designed by the backstepping method.By analyzing the experimental results,the backstepping adaptive controller has good performance in the transmission of the actual system.更多还原