基于瀑布机制的重载机械手自组织精密模式
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摘要
针对机械手运动中的关节误差对重载机械手精度的影响,受生物瀑布机制自动修复特点的启发,提出基于瀑布机制的重载机械手自组织精密模式。研究了机械手关节的惯性矩阵,分析了关节惯性矩阵对末端精度的影响;结合瀑布机制的工作原理,求解了重载机械手精密运动的自组织模式;从机械手关节惯性力出发,推导出关节误差对机械手关节力矩的数学模型,并对其进行仿真分析。结果表明,瀑布机制的自组织模式可减小关节误差对机械手关节精度的影响。
In view of the influences of joint errors in manipulator motions on terminal accuracy of heavy-duty manipulators,a self-organizing precision mode of heavy-duty manipulators was put forward based on waterfall mechanism,inspired by the characteristics of automatic restoration of biological waterfall mechanism. Then,the inertia matrix of the manipulator joints was studied and the influences of the joint inertia matrix on end precision were analyzed.Combined with working principles of waterfall mechanism,self-organizing model for heavy-duty manipulator motions was solved. From manipulator inertia forces,the mathematical model of the manipulator joint torques was resolved.Then the simulations show that the self organizing pattern of waterfall mechanism may reduce the effects of joint errors on the accuracy of manipulator joints.
In view of the influences of joint errors in manipulator motions on terminal accuracy of heavy-duty manipulators,a self-organizing precision mode of heavy-duty manipulators was put forward based on waterfall mechanism,inspired by the characteristics of automatic restoration of biological waterfall mechanism. Then,the inertia matrix of the manipulator joints was studied and the influences of the joint inertia matrix on end precision were analyzed.Combined with working principles of waterfall mechanism,self-organizing model for heavy-duty manipulator motions was solved. From manipulator inertia forces,the mathematical model of the manipulator joint torques was resolved.Then the simulations show that the self organizing pattern of waterfall mechanism may reduce the effects of joint errors on the accuracy of manipulator joints.
引文
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[3]李宏凯,孙久荣,戴振东.动物运动指令的中枢模式发生器对机器人运动控制的启示[J].机器人,2008,30(3):279-288.LI Hongkai,SUN Jiurong,DAI Zhendong.The Inspiration for the Motion Control of Robot from Central Pattern Generator of Animal.s Locomotion Instruction[J].Robot,2008,30(3):279-288.
[4]王炜,秦现生.仿肌肉驱动器及其在仿生机器人中的应用[J].微特电机,2009,37(6):56-60.WANG Wei,QIN Xiansheng.The Muscle-like Actuator and Applications in the Bionic Robot[J].Small&Special Electrical Machines,2009,37(6):56-60.
[5]信继忠,柯显信,杨阳,等.仿人机器人眼部运动准确控制与实现[J].计算机仿真,2015,32(12):349-353.XIN Jizhong,KE Xianxin,YANG Yang,et al.Accurate Control and Realization of Humanoid Robot Eye Movement[J].Computer Simulation,2015,32(12):349-353.
[6]杨永刚,谢友增.仿生扑翼机构设计及仿真分析[J].机床与液压,2015,43(1):161-163.YANG Yonggang,XIE Youzeng.Design and Simulation Analysis of Bionic Flapping Wing Mechanism[J].Machine Tool&Hydraulics,2015,43(1):161-163.
[7]高名旺,张宪民.4-RRR冗余并联机器人驱动力优化[J].农业机械学报,2014,45(1):301-305.GAO Mingwang,ZHANG Xianmin.Optimum of Driving Force for 4-RRR Redundant Parallel Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(1):301-305.
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[9]DONG H,CONG M,WEN L,et al.Normal Dynamic Statics Analysis of a High Speed Heavy Duty Palletizer[C]//IEEE International Conference on Robotics and Biomimetics.Zhuhai,2015:1501-1505.
[10]罗天洪,马翔宇,刘淼,等.基于神经元时空整合能力的重载精密机械手传递模式[J].计算机集成制造系统,2015,21(11):2964-2971.LUO Tianhong,MA Xiangyu,LIU Miao,et al.Transmission Model of Heavy Precision Manipulator Based on Neural TIC[J].Computer Integrated Manufacturing Systems,2015,21(11):2964-2971.
[11]罗天洪,马翔宇,陈才,等.基于操纵子学模型的5自由度宏-微精密机械手运动的映射关系[J].机械工程学报,2016,52(13):47-53.LUO Tianhong,MA Xiangyu,CHEN Cai,et al.Control System of Five Degrees of Freedom of Macro-micro Precision Manipulator Based on Operon Model Mapping[J].Journal of Mechanical Engineering,2016,52(13):47-53.
[12]张霞,钱蕾,罗天洪,等.穿戴式机器人的协调控制方法及其运动辅助机理[J].中国机械工程,2017,28(16):1965-1971.ZHANG Xia,QIAN Lei,LUO Tianhong,et al.A Coordination Control Method for Wearable Robots and Its Motion Assist Mechanism[J].China Mechanical Engineering,2017,28(16):1965-1971.
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