仿人機(jī)械臂關(guān)節(jié)驅(qū)動及控制系統(tǒng)設(shè)計(jì)

摘    要
仿人機(jī)器人是機(jī)器人研究領(lǐng)域最高研究成果的代表。仿人機(jī)械臂作為仿人機(jī)器人的一部分，代替人手的功能，是實(shí)現(xiàn)仿人機(jī)器人動作和功能的基礎(chǔ)和重要載體，是仿人機(jī)器人不可或缺的重要部分。
本文設(shè)計(jì)了一個(gè)三自由度仿人機(jī)械手臂的驅(qū)動和控制系統(tǒng)。它采用機(jī)電一體化的設(shè)計(jì)理念，集機(jī)械機(jī)構(gòu)設(shè)計(jì)、驅(qū)動系統(tǒng)設(shè)計(jì)、傳感檢測系統(tǒng)設(shè)計(jì)、控制系統(tǒng)設(shè)計(jì)為一體，從最簡單的三自由度入手，在機(jī)械結(jié)構(gòu)設(shè)計(jì)的基礎(chǔ)上著重進(jìn)行驅(qū)動系統(tǒng)和控制系統(tǒng)的開發(fā)。
為了滿足仿人手臂運(yùn)動的復(fù)雜性和實(shí)時(shí)性，驅(qū)動系統(tǒng)采用精度較高、響應(yīng)速度快的一種新型混合直接驅(qū)動系統(tǒng)，控制系統(tǒng)采用PC機(jī)和PMAC多軸運(yùn)動控制器進(jìn)行兩級控制。一方面，利用直接驅(qū)動方式，大大提高了運(yùn)動的準(zhǔn)確性，解決了機(jī)械臂運(yùn)動復(fù)雜的難題；另一方面，借助于先進(jìn)的計(jì)算機(jī)技術(shù)提高了運(yùn)算和處理的快速性，使精度和速度都大大提高，最終不僅實(shí)現(xiàn)了關(guān)節(jié)內(nèi)部所有傳感器信息的采集、直接驅(qū)動和關(guān)節(jié)空間位置的控制，滿足了一般工業(yè)機(jī)器人的要求，還實(shí)現(xiàn)了實(shí)時(shí)運(yùn)動，達(dá)到了仿人運(yùn)動的要求。
仿人機(jī)器人是當(dāng)代科技研究的熱點(diǎn)之一，具有重要的科學(xué)意義，還有待于更加深入的研究。

關(guān)鍵詞：仿人機(jī)械臂，直接驅(qū)動，PMAC，實(shí)時(shí)控制

ABSTRACT
Apery robot is the representative of the highest research results in the field of robot
researching. As a part of apery robot, the apery robot arm replaces the functions of
human hand, is the foundation and an important carrier of achieving the motion and
function of the apery robot, and is an indispensable part of the apery robot.
    This article is about the design of driving and controlling system of a 3DOF apery
robot. Using the design concept of Mechatronics, the design which is the aggregation of
the mechanical structure design, the driving system design and the controlling system
design, goes about the simplest model of 3DOF, and mainly to develop the driving and
the controlling system while designing the mechanical structure.
To satisfy the complexity and the real–time processing of the apery movement, the driving system uses a new type of hybrid and direct system which has higher precision and fast response in signal processing, and the controlling system uses the PC and the PMAC to conduct 2-level control. On the one hand, using the direct－drive mode to conduct closed loop control greatly enhanced the precision of the movement, which solve the problem of complexity of the arm’s movement; on the other hand, the application of the advanced computer technique, enhanced the speed of calculation and procession, greatly increased the precision and speed, and finally completed the acquisition of all the sensor information, direct driving, and the control of the space position of robot joints, achieved the ordinary industrial robot’s need, but also actualized real-time moving, fulfilled  the request of the apery movement .
The apery robot is one of the hot spots of contemporary science and technology researching, is of scientific significance, and also need more in-depth study.

Key words：apery robot , direct drive , PMAC, real-time control

 
目   錄
摘    要 III
ABSTRACT IV
1  緒　論 1
1.1概述 1
1.2課題研究的意義與前景 1
1.3國內(nèi)外研究現(xiàn)狀 2
1.4 本文的主要內(nèi)容 3
2 總體和機(jī)械本體設(shè)計(jì) 4
2.1  系統(tǒng)分析 4
2.2  技術(shù)設(shè)計(jì) 5
2.2.1確定本體結(jié)構(gòu)和參數(shù) 5
2.2.2擬定檢測傳感系統(tǒng)框圖 7
2.2.3確定控制系統(tǒng)總體方案，繪制框圖 7
2.2.4總體結(jié)構(gòu)設(shè)計(jì) 8
2.2.5機(jī)械臂的工作空間 9
2.3 本章小結(jié) 11
3  傳感檢測系統(tǒng)設(shè)計(jì) 12
3.1 傳感器選擇的基本要求 12
3.2 傳感器的選擇 13
3.2.1 超聲波傳感器和紅外線傳感器測距系統(tǒng) 13
3.2.2六維力/力矩傳感器 14
3.2.3 光電編碼器 15
3.2.4 微動開關(guān) 16
3.3 本章小結(jié) 17
4　驅(qū)動系統(tǒng)設(shè)計(jì) 18
4.1 驅(qū)動方式的選擇 18
4.2行波 USM 運(yùn)行原理及控制方法 19
4.2.1 行波超聲波電機(jī)原理及特點(diǎn) 19
4.2.2 TRUSM控制方法的選擇 19
4.3新型混合直接驅(qū)動系統(tǒng)設(shè)計(jì) 20
4.4 基于混合直接驅(qū)動系統(tǒng)的精密定位控制方法 20
4.4.1 兩階段定位控制策略 20
4.4.2 兩階段控制需注意的問題及控制流程圖 22
4.5 本章小結(jié) 24
5  仿人機(jī)械臂控制系統(tǒng)設(shè)計(jì) 25
5.1  硬件系統(tǒng) 25
5.2  PMAC多軸運(yùn)動控制器 26
5.3 軟件系統(tǒng) 27
5.3.1軟件系統(tǒng)的主要功能 27
5.3.2軟件結(jié)構(gòu) 28
5.3.3運(yùn)動控制方法 29
5.4 本章小結(jié) 30
6  結(jié)束語 31
參 考 文 獻(xiàn) 33