【作者】 陈涛；

【导师】 佟志忠；

【作者基本信息】 哈尔滨工业大学 ， 机械工程（专业学位）， 2018， 硕士

【摘要】 在现代智能机器人应用领域,装配一直是一个重要研究方向,装配属于机器人与未知环境之间的相互认知,重点是柔顺性问题,尤其是装配在接触时存在碰撞冲击、柔顺方向以及位姿偏差调整等诸多问题。六自由度并联机器人以其精度高、承载能力强等特点,在装配领域尤其是大型工件装配领域上具有广泛的应用前景,若以并联机构为执行机构进行装配作业,则对其刚度特性、耦合特性以及控制策略提出了特别的要求。本文聚焦轴孔装配柔顺性问题,结合主被动柔顺,在刚柔混合广义并联机构的基础上展开了机构设计、控制分析、装配仿真以及实验验证等研究。论文首先就轴孔装配过程展开分析,确定各阶段存在的难点,明确相关问题的解决方法,并选取以刚柔混合广义并联机构为设计构型,提出了兼具主被动柔顺特性的轴孔装配系统设计方案。通过广义并联机构的定义及参数描述,对机构的刚度展开理论分析,推导出机构刚度矩阵表达式,并给出刚度耦合关系评价指标,为进一步机构设计奠定理论基础。其次,在理论分析的基础上,结合机构设计要求,对刚柔混合广义并联机构展开综合设计,设计将通过计算刚柔混合广义并联机构刚度矩阵,分析不同刚柔混合构型的刚度特性、耦合特性、局部各向同性以及柔顺方向性,进而设计出具有被动柔顺特性的刚柔混合广义并联机构。然后,通过对装配接触阶段的碰撞稳定性分析,确定机构刚度设计要求,并对装配系统主动柔顺控制策略展开研究,主动柔顺将采用力环包容位置环的控制策略,进一步将建立轴孔装配仿真模型,选取多种装配边界条件对轴孔装配进行综合仿真,验证结合主、被动柔顺特性的装配系统的实用性。最后,根据理论分析设计搭建刚柔混合广义并联机构实验样机,通过实验对理论分析以及仿真进行综合验证。更多还原

【Abstract】 In the field of modern intelligent industrial robots,robot compliant assembly is an important research topic.The problem of shaft hole assembly belongs to the interaction between the robot and the unknown environment,so the focus of the research is mainly on the compliance issues,especially the problems of collision impact,compliant direction and position deviation adjustment when the shaft hole is in contact.The six DOF parallel manipulator has a wide application prospect in the field of assembly,especially in the field of large work pieces,because of its high precision and strong bearing capacity,so it makes special requests to the stiffness characteristics,coupling characteristics and control strategy of the parallel mechanism.This paper focuses on the compliance problem of the assembly of shaft holes,combining active and passive compliance,and develops mechanism design,control analysis,assembly simulation and experimental verification on the basis of rigid-flexible generalized parallel mechanism.Firstly,the paper analyzes the process of the shaft hole assembly,determines the difficulties existing in each stage,identifies the solutions to the related problems,and proposes a design scheme for the shaft hole assembly system with both the active and passive compliance characteristics,and selects the rigidflexible generalized parallel mechanism as the design mechanism.In this paper,the stiffness of the mechanism is analyzed,the stiffness matrix expression of the mechanism is derived,and the evaluation index of the stiffness coupling relationship is given through the definition and parameter drawing of the generalized parallel mechanism,which lays a theoretical foundation for the further mechanism design.Secondly,on the basis of the theoretical analysis,combined with the design requirements of the mechanism,the comprehensive design of the rigid-flexible generalized parallel mechanism is designed.The design will use the generalized parallel mechanism stiffness matrix as a calculation tool to analyze the stiffness,coupling,local isotropic and compliant orientation of different rigid-flexible hybrid configurations,and then a rigid-flexible generalized parallel mechanism design with passive compliance characteristics is finished.Then,through the collision stability analysis during the assembly contact phase,the stiffness design requirements of the mechanism are determined,and the active compliant control strategy of the assembly system is studied.The control system will adopt the control structure of the force ring to contain the position loop,and the shaft hole assembly simulation model will be established further.A variety of assembly boundary conditions are selected to perform a comprehensive simulation of the shaft hole assembly to verify the practicability of the active and passive compliant assembly systems.Finally,based on the theoretical analysis,an experimental prototype of a rigid-flexible generalized parallel mechanism is built,and the theoretical analysis and simulation are verified comprehensively through experiments.更多还原