机器人末端操作器自动更换技术研究  

Research on Automatic Robot Manipulator Exchange

作　　者：孔凡凯[1] 刁彦飞 杨恩霞[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：《机械工程师》2004年第5期18-21,共4页Mechanical Engineer

摘　　要：为机器人配置工具库并使机器人具有自动更换操作器的能力,可以极大地提高工作于极限条件下机器人的作业能力和作业效率,文中介绍了一种基于多传感器的机器人操作器自动更换装置,由于在机器人的腕部安装了微调节器,机器人与环境接触时具有很好的柔顺性,在作业时具有很高的刚度;对接时采用了视觉引导粗定位、光学引导精确定位和姿态调整以及主被动混合柔顺控制策略,使机器人操作器在自动更换过程中都能满足正常对接的几何约束条件和力学约束条件。机器人操作器自动更换装置结构简单、感知能力和环境适应能力强、更换迅速、可靠,并具有很强的数据传输能力,可用在除水下之外的大多数极限环境条件下。Tool kit and the capability of automatic manipulator exchange can improve the working ability and efficiency of robots working in the limit environment greatly. An automatic robot manipulator exchange system based on multi-sensor is introduced in this paper, with micro-adjuster in the wrist, the robot has excellent compliance when contacting with the object and excellent rigidity when working. By using visual guide macro locating,optical guide micro locating and posture adjusting, active passive hybrid control, the robot exchanges the manipulators under the geometric constrain and the force constrain successfully. The automatic manipulator exchange system has simple structure, excellent ability of information acquisition, environment fitting, information exchange, changing the manipulators quickly and reliably,and can be used in most of the limit environment except under water.

关 键 词：机器人操作器 工具库 自动更换 传感器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]