气动并联机器人的结构设计及控制
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摘要
在电子、轻工、食品和医药等行业中,通常需要以很高的速度完成诸如插装、封装、包装、分拣等操作,传统生产中这类工作由人工完成,劳动强度大,生产效率低,使用高速运动的机器人进行生产可以极大地提高生产效率。三自由度气动并联机器人以气缸、比例阀、拉绳式位移传感器、比例阀和球铰来构建机械结构,以单片机STM32F373VCT6作为控制芯片设计控制电路,以压缩空气作为能源。根据三自由度气动并联机器人的机械结构及运动特征,得到结构末端的运动学正解和逆解。根据机械结构的约束得到机械手的工作空间,并以二自由度机械臂为例验证了协调控制算法,实验结果证实了该算法的有效性。
In electronics,light industry,food,and medicine industries,it is often necessary to perform operations such as inserting,packaging,packaging,and sorting at a high speed. This type of work in traditional production is done manually,with high labor intensity and low productivity. Using high-speed robots can greatly improve productivity. A three-degree-of-freedom pneumatic parallel robot uses a cylinder,a proportional valve,a pull-rope displacement sensor,a proportional valve,and a ball joint to build a mechanical structure. A control circuit is designed based on STM32F373VCT6. The parallel robot uses compressed air as the energy source. According to mechanical structure and motion characteristics of a three-degree-of-freedom pneumatic parallel robot, the kinematics forward and inverse solutions at the end of the structure are obtained. The manipulator's working space is obtained according to the constraints of mechanical structure,and we verify the coordinated control algorithm using a two-degree-of-freedom manipulator as an example. The experimental results confirm the effectiveness of the algorithm.
In electronics,light industry,food,and medicine industries,it is often necessary to perform operations such as inserting,packaging,packaging,and sorting at a high speed. This type of work in traditional production is done manually,with high labor intensity and low productivity. Using high-speed robots can greatly improve productivity. A three-degree-of-freedom pneumatic parallel robot uses a cylinder,a proportional valve,a pull-rope displacement sensor,a proportional valve,and a ball joint to build a mechanical structure. A control circuit is designed based on STM32F373VCT6. The parallel robot uses compressed air as the energy source. According to mechanical structure and motion characteristics of a three-degree-of-freedom pneumatic parallel robot, the kinematics forward and inverse solutions at the end of the structure are obtained. The manipulator's working space is obtained according to the constraints of mechanical structure,and we verify the coordinated control algorithm using a two-degree-of-freedom manipulator as an example. The experimental results confirm the effectiveness of the algorithm.
引文
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[6]吴孟丽,张大卫,赵兴玉.一种三自由度并联机构的概念设计与运动学分析[J].天津大学学报(自然科学与工程技术版),2007,40(8):965-970.WU Mengli,ZHANG Dawei,ZHAO Xingyu.Conceptual Design and Kinematic Analysis of a 3-DOF Para Ilel Robot[J].Journal of Tianjin University(Natural Science Edition),2007,40(8):965-970.
[7]韦岩,李冉冉,张鲁浩,等.基于运动学正解的Delta机器人工作空间分析[J].机械制造与自动化,2018,(1):173-175.WEI Yan,LI Ranran,ZHANG Luhao,et al.Workspace Analysis of Delta Robot Based on Forward Kinematics[J].Mechine Buliding&Automation,2018,(1):173-175.
[8]ZHOU Jiping,YAN Jingping,CHEN Wenjia.The Current Research Status of Dual-arm Robot[J].Robotics,2001,10(6):430-435.
[9]王雷,徐翔鸣.双机器人主从协调控制系统研究[J].工业控制计算机,2017,30(5):55-57.WANG Lei,XU Xiangming.Research on Double Robots Master-slave Coordinated Control System[J].Industrial Control Computer,2017,30(5):55-57.
[10]刘永信,王玲琳,韩晓爽,等.双机械臂协调控制综述[J].内蒙古大学学报(自然科学版),2017,(4):471-480.LIU Yongxin,WANG Linglin,HAN Xiaoshuang,et al.Summary of Coordinated Control of Double Manipulators[J].Journal of Inner Mongolia University(Natural Science Edition),2017,(4):471-480.
[11]王美玲,骆敏舟.一种冗余自由度双臂机器人协调控制器设计[J].系统仿真学报,2016,28(8):1783-1789.WANG Meiling,LUO Minzhou.Cooperative Controller Design for Redundant Dual Arm Robot[J].Journal of System Simulation,2016,28(8):1783-1789.