新型模块化机械臂的研制及其有限元分析研究
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摘要
针对机械臂的设计特点和技术难点,对机械臂的本体结构进行了研究,提出了一种全新的模块化设计方法,该方法通过Solidworks建立了机械臂三维模型,进行了模块化机械臂伺服单元的设计。首先,对机械臂的电机和谐波减速器进行了选型,通过实验计算了不同关节角度的转矩,确定了最终的选择方案;然后,利用Ansysworkbench对机械臂的关键零部件进行了有限元分析,得出了机械臂第二关节等重要部件的应力和位移云图,从体积布局以及工作模式等角度进行了硬件设计,采用闭环控制算法和力反馈算法开发方案,实现了三闭环的伺服电机控制和一体化伺服驱动单元的力反馈;最后,在结构和算法的基础上开发出了OUR系列模块化机械臂。研究结果表明,关键零部件具有较大的刚度和强度,各关节具有高度的独立化和模块化。
Aiming at the design features and technical difficulties,the main body structure of the manipulator was studied. A new modular design method was put forward,which is based on Solidworks,and the design of modular manipulator servo unit was carried out. The motor and harmonic reducer of manipulator were selected. The torque of different joint angles was calculated and the final selection scheme was determined. The finite element analysis of the key parts of the manipulator was made by using Ansysworkbench,and the stress and displacement contour of the important parts such as the second joints of the manipulator were obtained. The hardware design was carried out from the angle of volume layout and working mode. Closed loop control algorithm and force feedback algorithm were used to realize the force feedback of three closed loop servo motor control and integrated servo drive unit. Finally,based on the structure and algorithm,a series of OUR modular manipulators were developed. The research results indicate that the key components have large stiffness and strength,each joint has a high degree of independence and modularization.
Aiming at the design features and technical difficulties,the main body structure of the manipulator was studied. A new modular design method was put forward,which is based on Solidworks,and the design of modular manipulator servo unit was carried out. The motor and harmonic reducer of manipulator were selected. The torque of different joint angles was calculated and the final selection scheme was determined. The finite element analysis of the key parts of the manipulator was made by using Ansysworkbench,and the stress and displacement contour of the important parts such as the second joints of the manipulator were obtained. The hardware design was carried out from the angle of volume layout and working mode. Closed loop control algorithm and force feedback algorithm were used to realize the force feedback of three closed loop servo motor control and integrated servo drive unit. Finally,based on the structure and algorithm,a series of OUR modular manipulators were developed. The research results indicate that the key components have large stiffness and strength,each joint has a high degree of independence and modularization.
引文
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[2]贺磊,徐国华,刘亚平.水下机器人关节电机驱动系统研究[J].机电工程,2013,30(1):77-80.
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[4]KIM S H,KIM Y H.Realization of a virtual simulator system Window 98/NT environment[C]//Industrial Electronics,2001 proceedings.ISIE 2001.IEEE International Symposium.Pusan:IEEE,2001:216-220.
[5]杨淞.一种六自由度机械臂的运动控制系统设计[D].上海:上海交通大学机械与动力工程学院,2014
[6]张昊,王超亮,田文龙,等.同步仿生机械臂设计[J].兵工自动化,2015,34(5):77-78.
[7]程乾,蒋刚.电液驱动六足机器人三维空间力学分析[J].机械传动,2015,39(1):43-47
[8]耿令波.工业机器人动力学参数辨识方法研究[D].南京:南京航空航天大学机电学院,2013.
[9]马江.六自由度机械臂控制系统设计与运动学仿真[D].北京:北京工业大学机械工程与应用电子技术学院,2009.
[10]韩斌慧.基于Solidworks的复杂壳体造型和模态分析[J].煤炭技术,2015,34(2):203-205.
[11]李波,张瑾,李国栋.排爆机器人机械臂控制系统设计[J].机电工程,2015,32(8):1110-1114.
[12]刘和平,王维俊.TMS320LF240XDSP一C语言开发开发应用[M].北京:北京航空航天大学出版社,2003.
[13]张斌,李耀华.可顺序控制多台电机的伺服驱动方法[J].电工技术,2000(6):25-27.
[14]高辉,姚莉莉.“六步换向”法控制无刷直流电机设计[J].防爆电机,2012,47(4):3-5.
[15]侯敬巍,赵丁选,巩明德,等.遥操作机器人的新型力反馈算法[J].计算机应用研究,2011,28(5):1679-1681.
[16]李杰,齐晓慧,甄红涛,等.基于扩张状态观测器的通用模型参考自适应控制设计与分析[J].中国科学技术大学学报,2014,44(10):818-827.