摘要
手控器是双边遥操作技术实现中的关键部分,作为人机接口设备,其性能好坏直接影响双边遥操作的效率。本文设计了一种6自由度通用型手控器,对手控器的设计指标、手控器机构、检测驱动模块和控制算法进行了深入的研究。在考察以往研制的各种手控器的设计指标的基础上,提出了通用型手控器设计须满足的主要指标。以所提指标为准则,对手控器系统的各个功能模块的设计方法进行了讨论。
1.设计了6自由度手控器机构。基于Delta并联机构设计的3自由度平动平台具有工作空间大、机构刚度高的优点,同时3自由度转动平台的设计也充分考虑了人手操作的舒适度和控制算法的复杂度等指标。使用SolidWorks软件对机构进行了三维构件设计和装配。按照SolidWorks中的三维构件生成了工程图,并制造了满足设计要求的手控器机构。
2.手控器的运动学分析和静力学分析。本文建立了手控器位置正解和逆解算法,在Matlab环境下得到了手控器的工作空间仿真图形;得到了手控器移动平台的速度雅可比矩阵和力雅可比矩阵,绘制了速度特性和静力学特性图,验证了在选取适当杆件参数的情况下,提出的通用式手控器适合大位移位置控制。使用雅可比矩阵进行计算得到了满足手控器设计指标的驱动器和传感器选取参数。
3.控制系统设计与实现。为了满足手控器轻型化、控制简单、选型方便的要求,使用伺服电机和力/力矩传感器实现手控器检测/驱动模块的设计。力控制器的设计基于零力控制方法,在一台工控机上实现。使用Matlab软件的SimMechanics工具箱搭建了一个实现3位平移自由度的机械手,以此仿真机械手为从端,应用双边PD算法设计了双边控制系统。在双边控制系统中引入3秒时延的情况下,双边遥操作实验结果表明手控器操作直观有效。
Hand controller is a key part in the realization of bilateral teleoperation technique. As a human-machine interface, its performance affects the efficiency of bilateral teleoperation system directly. A generalized hand controller with 6 degree-of-freedom(DOF) is designed. Simultaneously, the issues of hand controller design, including the design indexes, mechanism, measuring and driving modules, together with control algorithm, are studied. After reviewing the design indexes in previous design of hand controllers, this paper proposes several key indexes suitable for a universal hand controller. With these indexes as principles, the functional modules of the hand controller are discussed.
1. Design of a 6-DOF hand controller mechanism. The platform which is designed based on a Delta parallel mechanism with 3 translational DOF has satisfying workspace and proper rigidity. And the platform with 3 rotational DOF is designed with sufficient consideration of the comfort of handling and the complexity of control method. The mechanisms are both designed and assembled using the SolidWorks software. Based on the components provided by SolidWorks, the engineering print of the mechanisms are drawn, and the machine which fit the design demands are built.
2. Kinematic analysis and static force analysis. In this thesis, the forward and reverse solution of position analysis is presented, and a simulation graph of the hand controller’s workspace is got in Matlab environment. The graph embodying the velocity feature and static force feature is drawn after achieving the velocity Jacobian matrix and the force Jacobian matrix. It is confirmed that the hand controller fit position control in the case of large displacement. The parameters for driver selection and sensor selection are figured out using Jacobian matrix.
3. Design and realization of control system. Measuring and driving modules are developed using serve motor and force/torque sensor, embodying the principle of light weight, simple control of hand controller and easy selection. Following the idea of zero-force control, a force controller is designed on a industrial personal computer. A virtual manipulator with 3 translational DOF, serving as slave hand, is developed using SimMechanics, which is a toolbox of MATLAB. Applying the bilateral PD algorithm, a bilateral control system is then accomplished. With a delay of 3 second being imposed on the bilateral control system, experimental results of bilateral teleoperation show that manipulate of the hand controller is direct and effective.
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