合作机器人的关键技术及实验研究  

Study of key technologies of Cobot

作　　者：董玉红 张立勋[1] 王怀军[1] 沈锦华[1] 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2006年第3期423-428,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60275030);黑龙江省基金资助项目(F200513);黑龙江省教育厅基金资助项目(11511055)

摘　　要：为了使合作机器人(Cobot)在同一作业空间内与人直接进行物理合作,对Cobot的不完全约束关节机构和虚拟轨迹控制2项关键技术进行了建模及实验研究.建立了基于双超越离合器的不完全约束关节机构的模型及约束控制模型,并以五杆式Cobot为实验样机对关节机构的被动约束特性进行了实验验证.提出了基于操作力的轨迹规划方法,建立了轨迹规划模型,并对Cobot跟踪给定直线和圆弧轨迹进行了实验研究.研究结果表明,不完全约束关节机构具有被动特性,可以约束Cobot关节的运动状态;轨迹规划方法可以实现Cobot的轨迹控制.文中的研究成果经过进一步完善,可以应用到合作机器人系统,对完善人机合作技术、扩大机器人产业和提高机器人的作业水平等具有重要的实际意义.Two key technologies are needed for a cobot to have direct physiCal collaboration with a human in a shared workspace： a non-holonomic constraint joint mechanism and virtual trajectory control. These were modeled and studied by experimentation. A non-holonomic constraint joint mechanism model based on double over-running clutches and its constraint control model were constructed, and the experiment validation of passive and constraint characteristics of the mechanism was carried out by a five-bar cobot, an experimental prototype. A path planning method based on operation force was put forward and its model was constructed. The cobot followed a desired straight line and circle. Research results illustrate that a non-holonomic constraint joint mechanism possesses passive characteristics and constrains the motion of a cobot joint. Also, a path planning method can implement trajectory control of a cobot. The study results can be helpful for cobot systems in general and have important practical significance for improving man-machine collaboration technology, expanding the robot industry, and advancing robot operation automation levels.

关 键 词：合作机器人 不完全约束 虚拟轨迹控制 关键技术 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]