节点文献
机械手试验系统研究
Research on the Manipulator Testing System
【作者】 雷杰；
【导师】 余祖耀；
【作者基本信息】 华中科技大学 ， 轮机工程， 2012， 硕士
【摘要】 水下机械手是一种机电一体化与先进机器人技术在水下的特殊应用，其研究和推广应用对于国家深海自然资源的探测开发利用、深海水下救护、光电通讯、生命科学以及国家的国防军事等领域有重要的现实意义。本文的工作主要是针对某型水下机械手进行方案、结构设计及其电液位置伺服控制系统研制。该机械手安装于水下某狭小空间，又要求能达到一个较大的工作空间，且机械手的手爪需要实时保持水平以利于目标物的抓取与定位，因此文中选用多连杆机构作为机械手的技术方案。其不但满足工作空间及手爪姿态的要求，还减少了控制自由度，降低了控制成本。论文在分析机械手工作要求的基础上，基于多连杆机构工作原理，结合平面解析法和实体建模法求解机械手手爪轨迹范围，以满足水下机械手的工作空间要求。针对双缸串联协作关系，对机械手手爪的正交运动轨迹控制进行了分析，为计算机编程控制奠定了理论基础。根据选定的方案，考虑到水下特殊的工作条件、受力特点、运动干涉情况，完成了机械手结构设计。通过对机械手在特殊位姿加载情况下的复杂受力构件进行静力学计算和Solidworks/simulation仿真分析，满足了机械手结构的强度、刚度及稳定性要求。机械手驱动用的对称阀控非对称液压缸是电液位置伺服控制系统建模的难点，本文在对负载流量和负载压力重新定义的基础上，分析了液压弹簧-质量系统的固有频率、零位等效容积Vt，基于阀控非对称缸的传递函数，运用matlab/SimHydraulics搭建了阀控非对称缸的开环与闭环模型，根据零位处系统对阶跃信号的速度响应分析，确定了传递函数的阻尼比和固有频率值。然后通过基于AMESim软件对机械手控制系统进行仿真，预测了机械手试验系统的静动态特性，并以此为基础编写了机械手试验系统的控制程序。在以上工作基础上，研制了机械手试验系统的样机及控制系统，通过对机械手试验系统的手柄实时控制及轨迹规划程序控制两种工况进行试验，验证了本机械手试验系统在各种工况下都具有良好的动态特性，能够满足技术要求。
【Abstract】 The underwater manipulator is actually a kind of special application in mechatronicsand advanced technology of the underwater robot. Its research and promotion apply hasimportant practical significance on a country ’s deep-sea natural resource exploration andutilization, deep-sea submarine rescue, opto-electronic communication, life sciences andnational defense and military fields.The thesis is mainly aims at the scheme, structural design and its electro-hydraulicposition servo control system of a certain type of underwater manipulator. This underwatermanipulator is installed in the water of a small space, can achieve a larger workspace, andthe grippers of the manipulator needs maintain real-time level position in order to captureand locate the object. Therefore selected the technology programme of multiple-linkmechanism, not only meet the work requirements of space and gripper posture, but alsoreduced the control degree-of-freedoms and control cost. Based on the analysis of themanipulator technical requirements and the principle of multi-link, combined with surfaceanalytical and solid modeling method to solve manipulator’s gripper trajectory range tomeet its’ work-space requirements. In view of the two-cylinder series cooperationrelationship, analysis the grippers’ orthogonal trajectories, has laid the theoreticalfoundation for computer programming control.According to the selected scheme, taking into account the special work conditionunderwater, the stress characteristic and movement interference, we have completed themanipulator structural design. By computing the statics stress of some components whichis loaded complex loading force when the manipulator in special postures, we can see thestructures of the manipulator meet the strength, stiffness and stability requirements.The mode of symmetric valve-controlled asymmetric cylinder is difficult to build inthe manipulator’s electro-hydraulic position servo control system. the hydraulic spring-mass system natural frequency and zero position equivalent volume Vtare analyzed basedon load flow and load pressure are re-defined, Based on the valve-controlledasymmetrical cylinder transfer function，open loop and closed loop models are builtusing matlab/SimHydraulics, The values of damping ratio and the natural frequency are obtained from response to step signal at the zero position of the system.Then AMESim isused to simulate the control system of the manipulator control system, predict the it’sdynamic characteristics, and has compiled the manipulator’s control procedures.On the basis of the above work, has developed the prototype of the test system and itscontrol system. the test system of the manipulator is controlled by handles real-time ortrajectory planning procedures in various working conditions, the results shows that themanipulator test system has good dynamic characteristics under various workingconditions, can meet the technical requirements.