大行程高精度宏微机器人系统的研究  

Study on the large travel range and high parallel robot system

作　　者：李长峰[1] 孙立宁[1] 曲东升[1] 刘彦武[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150080

出　　处：《制造业自动化》2008年第8期45-49,共5页Manufacturing Automation

基　　金：长江学者创新团队计划(IRT0423)

摘　　要：在惯性约束核聚变(ICF)实验中,传感器的高精度定位是实现准确打靶的关键因素。文章提出了宏微结构的机器人系统,采用宏-微运动结合的方法实现了传感器的高精度位姿调整和大范围移动。微动部分采用虎克铰结构的六自由度并联机器人以满足大负载、高精度的要求;采用高精度集成式的直线执行器,减少装配误差;使用闭环控制方式,通过对电机速度的合理规划,保证了系统的定位精度和重复精度。宏动部分采用丝杠传动方式,满足大行程的要求。建立了并联机器人的逆运动学模型,通过服务器端和客户端的网络通讯,实现了并联机器人系统的网络控制。实验结果表明,用于传感器定位的并联机器人系统满足了要求的定位精度,实现了对传感器的位置和姿态的精确调整。In the ICF （Inertial Confinement Fusion） experiment, high accuracy sensor location is one key technology to ensure the shooting target. A robot system with macro and micro structure is developed to satisfy the requirement of the high-precision pose adjustment and large-travel of the sensor by combining macro and micro motion. In micro-motion design, six DOF （degree-of-freedom） parallel robot with hooke joint is taken to meet the large load and acquire reasonable accuracy. An integrated linear motion actuator with high precision is adopted to decrease assembling errors. And close-loop control method and proper planning for the velocity of motor are necessary to guarantee the orientating precision and repetitive accuracy of the system. The transmission type with ballscrew is a good choice to meet large- travel in macro-motion design. Network control of the robot system is realized through the network communication between the server and the client. The results of experiment show that the parallel robot system developed can well realized the accurate pose adjustment of the sensor and satisfied design requirement of positioning accuracy of the sensor adjustment.

关 键 词：并联机器人 位姿调整 网络控制 宏微运动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]