带有力反馈的掰手腕机器人的研究检测技术与自动化装置专业论文.docxVIP

AbstractA Abstract A bstract The arm wrestling robot(AWR)is a popular research field in recent years，which represent a high integration of microelectronics，sensor control，artificial intelligence， human-machine interaction，sports biomechanics，human—machine engineering and etc．The research on AWR has good praetical value and social significance：AWR can not only be used as an equipment for medical rehabilitation，to helping people be keep in good health physically and mentally,but can also be used for entertainment，SO that participants can receive knowledge about robot，while playing game relax． This study is to develop AWR as a personalized robot system，according to its force condition，it can ratiocinate or judge by itself,simulate decision—making of human during arm wrestling，imitate the force·applying process of human，play wrestling game with victory,defeat，stalemate or many other match performance，the real time force feedback control make AWR give the impression that the player is arm wrestling against a real person．The main contents are following： 1．By studying the characteristic of the human upper limbs motion，physiological structure and movement principles，the mechanical arm is be simplified as a two-link model，ANSYS software iS be used to simulate the force condition of force sensors． According to the analysis，the elbow joint where elbow force sensor be best placed is designed as the depression，and the design and calibration of force sensors is be completed．We set up a platform for information detection based on the PCI bus． 2．After making an analysis of working requirements of AWlL we introduce the velocity-force control strategy in AWR system，and design the robot’S closed loop control system on the basis of the real-time force feedback information tO improve the control precision of system and make the robot more like real human．We complete the hardware connection and software design of the AWR control system，and set up an experimental platform． 3．We take a gr