基于模块化机械臂关节设计及其输出特性规范.docx

基于模块化机械臂关节设计及其输出特性研究 摘要 分析了机械臂关节细化模型,提出了一种包含有关节运动误差的机械臂关节的迟滞模型。分析了关节的输出特性,研究了存在运动误差和迟滞的原因。根据对机械臂关节输出特性的研究,完成了对关节运动误差以及关节迟滞的建模。在仿真软件中搭建仿真实验模型,对建立的模型进行仿真实验研究。结果表明:该模型体现出实际关节的特性,为基于模型的控制提供了理论依据。为验证论文所研究的机械臂关节输出特性理论的正确性,为验证本论文提出的包含关节运动误差的迟滞模型的正确性,建立关节特性验证实验平台。设计关节特性实验接口件,搭建实验平台。设计验证实验,并在实验平台上完成了机械臂关节运动误差、关节迟滞的实验,验证了机械臂关节运动误差以及关节迟滞的理论的正确性,所建模型的正确性。 关键词:模块化,空间机械臂,关节建模,运动误差,迟滞  DESIGN AND EXPERIMENT RESEARCH OF A FLEXIBLE INCHWORM PIPE ROBOT ABSTRACT Based on the subject of mission requirements, I have detailed analyzed the manipulator of the model and the output characteristics of the joint, proposed a new model contains the relevant section of the hysteresis error of manipulator joint movement, researched the causes of the existence of motion errors and hysteresis. According to the study of characteristics of manipulator output, I have completed the modeling of joint movement and joint hysteresis error. In simulate software, I have built a simulation model and conducted research on model simulations. The results showed that: the model reflects the actual characteristics of the joint, which provided a theoretical basis for the model-based control. To verify the correctness of the thesis research output characteristics manipulator theory and the correctness of the model include joint motion hysteresis error which was proposed in this paper, I have built the experiment platform of the characteristics of the joint verification, designed the joint interface parts and the experimental platform. At last, I designed the verification test and completed the manipulator error and hysteresis joint experiments on experimental platform. And I have verified the correctness of theory of the joint hysteresis error, as well as the model built. Key Words: modular, space robotics, joint modeling, dynamic error, hysterics  第1章 绪 论 1.1 引言 随着现代科学技术的发展,模块化机械臂技术得到不断的提高,模块化机械臂的应用领域也在不断的扩展,人们希望模块化机械臂能够更加灵活地适应不同的工作环境,完成越来越复杂的工作、任务[1]。 模块化机械臂是指的由一套具有不同大小、不同尺寸和不同性能的模块化关节组成,可以快速装配出适应不同工作任务的机械臂[2]