合作机器人助力型关节机构的驱动控制及实验研究  

Improving actuation control of a Cobot's power-assisted joint mechanism

作　　者：董玉红[1] 张立勋[2] 

机构地区：[1]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080 [2]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》2008年第10期1097-1102,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(60275030);哈尔滨市创新人才基金资助项目(RC2006QN006014)

摘　　要：根据合作机器人(Cobot)的特点和超越离合器的特性,提出了基于双单向超越离合器的助力型关节机构,利用拉格朗日方法建立了单向超越离合器的数学模型和助力型关节机构的动力学模型,并基于dSPACE半物理仿真平台对助力型关节机构的特性进行了实验研究.研究结果表明,该助力型关节机构可以跟踪指令信号,具有助力约束特性,可以克服摩擦阻力,使Cobot操作轻便省力,满足合作机器人与人合作的性能要求.具有这种关节的机器人可以应用于物料搬运以及航空、航天等大型武备零件的装配生产线中.After studying the features of Cobots and the characteristics of overrunning clutches, a kind of power-assisted joint mechanism installed with two unilateral overrunning clutches was put forward. Mathematical models of the overrunning clutch and a dynamic model of the joint mechanism were estabished according to the Lagrange method. An experimental study on the mechanical performance of power-assisted joint was completed using dSPACE hardware in a loop simulation platform. The research results illustrated that the power-assisted joint mechanism can track input instructions and provide power-assisted function. The joint mechanism can overcome friction resistance and operate portably to save labor, meeting the needs of Cobot-human cooperation. The Cobot with this kind of joint can be applied in material handling and production assembly lines for heavy-duty parts used in aeronautics, space flights, and so on.

关 键 词：合作机器人 关节机构 驱动控制 DSPACE 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]