单马达驱动机械臂控制技术研究-机械设计及理论专业论文.docx

华中科技大学硕士学位论文 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract The ratio of load and self-weight is an important parameter to evaluate a manipulator’s performance. However, the common feature of all current manipulator is the use of self-actuated joints and links, the mass of each actuator limits the performance of manipulator. a modular robot actuation technology called Single Motor Driven (SMD) has been introduced to remove this limitation, which can power an articulated robot as well as parallel one with only one motor. Drive torque for the module is tapped from a central rotating shaft using clutch. The position and velocity of the modules are regulated by controlling the engagement time of the clutches using the Pulse Width Modulation (PWM) technique. In this work, SMD manipulator’s control problem has been researched. Besides to solution the common difficulty—inverse kinematics in robot control, the unique problem—joints servocontrol base on clutches also must be faced. The solution of inverse kinematics of robot in position level is usually fit for manipulator with special geometry configuration, so it is lack of universality. The way based on jacobian pseudoinverse technique, is fit for real time compute, not depend on manipulator’s configuration, which is introduced into SMD manipulator’ control. This thesis proposed the solution of inverse kinematics for redundant manipulators and noredundant manipulators which was checked up by animation in Matlab. The control of clutches is the key feature of SMD control. The work process of clutches is analyzed on mathematics and modeling. The relations between PWM duty ratio and average output velocity of joint, while it is impossible to obtain the PWM duty ratio in given average output velocity by common ways. Then Cerebellum Model Articulation Controller (CMAC) is introduced to study out the math model, and designed joints servocontrol controller base on CMAC and PID parallel control. Simulation experiment indicates that the er