摘要
基于移动平台的机械臂系统具有灵活度高、适应性广、功耗低等特性,被广泛应用于灾难搜救、城市反恐、宇宙空间探索等领域,已成为二十一世纪机器人发展的重点方向。本论文结合基于移动平台的机械臂结构特点,以机械臂运动学和动力学理论研究为基础,以机械臂工作空间和运行功耗为分析对象,以可操作度和转动惯量为评价依据,提出了一种对机械臂的结构进行优化设计的方案,以实现增加机械臂工作空间灵活度和降低机械臂运行功耗的目的。论文的主要研究工作如下：
(1)提出基于移动平台的机械臂结构设计方案。针对移动平台的结构特点和机械臂的功能需求,确定机械臂结构设计指标,选择机械臂构型,分析该结构设计方案的关节数、关节结构和驱动类型,提出设计方案,并开发出样机。
(2)基于工作空间的机械臂连杆尺寸优化设计。以机械臂运动学理论方法为基础,在D-H坐标系中为机械臂建立数学模型,通过采样分析法对机械臂运动学正、逆解进行验证,以证明数学模型的可靠性。通过MATLAB仿真软件,分析机械臂各部分结构对其工作空间的影响趋势,确定机械臂工作空间影响因子,最后提出以机械臂可操作度为评价依据的求解方法。
(3)研究降低机械臂功耗的机械臂结构优化设计。运用动能定理等相关理论分析机械臂结构与其功耗的关系,确定以机械臂转动惯量的研究对象；然后针对机械臂多轴旋转结构特性,运用惯性张量的方法求解机械臂的实时转动惯量；最后运用仿真分析软件分析机械臂连杆尺寸与机械臂功耗的相对关系,获得机械臂结构对降低其功耗的依据。
(4)依据机械臂工作空间和能量消耗与结构设计的关系,提出结构优化设计方法并进行仿真。分析机械臂结构优化方法在增加机械臂工作空间灵活性和降低运行功耗两者间的关系与矛盾,运用倍数环比法对可操作度与转动惯量进行权重设计,提出综合两者的优化设计方法,并通过MATLAB仿真实验分析验证分析结果。
论文提出了结合机械臂工作空间和运行功耗双相指标对机械臂的连杆尺寸分布进行优化设计。该方案在不降低机械臂功能的条件下,增强了机械臂的操作灵活度、降低了运行功耗、增加了有效负载／自重比,具有一定的理论意义和实际应用价值。
With the characters of high flexibility, wide adaptability, low power consumption and so on, the manipulator system based on a movable platform has been used intensely in the area of disaster search and rescue, urban anti-terrorism, space exploration and what's more, it has become a important directions of the robot development in the21century. Integrated the character with the structure of the manipulator, based on the research of the manipulator kinematics and dynamics theory, targeted to the analysis of the manipulator work space and operating power consumption, and based on the evaluation of the manipulator's manipulability and moment of inertia, This paper put forward a project of optimum design for the structure of manipulator and intended to add its workspace flexibility as well as lower its power the consumption. The main research work was as follows:
(1) A design project of the manipulator which based on the mobile platform was put forward. Focused on the structure of the mobile platform as well as the functional needs of the manipulator, the design specifications of the structure of the manipulator was settled down, and the operations such as structure、the number of joints、the structure of the joints and the drive type of this structure were researched. Then, the design project was put forward and a prototype has been developed.
(2) The optimum design method of the working pace based manipulator's rod size was solved. Based on the manipulator kinematics theory, a mathematical model in the D-H coordinate system for the manipulator was constructed. Through the sampling and analysis method, the forward and inverse solution of the manipulator's dynamic theory was validated, and the reliability of the mathematical model has been proved. The effect of each parts of the manipulator to the workspace was analyzed and the effect factor was confirmed with the tool of MATLAB. Finally, a method based on the evaluation of manipulator's manipulability was proposed.
(3) The method of the structure optimum design to low the manipulator' consumption was researched. The relationship between the manipulator's structure and the consumption were analyzed with the kinetic theory. The manipulator's the moment of inertia was made as the research object. Then, according to the manipulator's structure character of Multi-shaft rotation, the manipulator's inertia in real time was solved by the inertia tensor method. Finally, with the help of the simulation software, the relationship of the size of the manipulator and its consumption was analyzed. The factor to low the consumption of manipulator's structure was attained.
(4) According to the effects of the workspace and the energy consumption to the manipulator's structure optimum design, an integrated structural optimum design method was proposed. The contradiction of increasing flexibility in work space and reducing operating power consumption of the manipulator by using the optimum design method was analyzed. The DARE method was used to design the weights between the manipulability and moment of inertia. Then an optimal design method by combination of the two method was proposed, and the results was verified by the MATLAB.
This paper integrated the two indicators which were the manipulator's workspace and the operating consumption to make the optimum design of the manipulator's rod size. The manipulator's operating flexibility is enhanced and low the operating consumption as well as increased the payload/weight ratio under the condition of didn't reduce its function. What's more, the project has a certain theoretical significance and practical application value.
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