Optimum design of a three-dimensional serial robot manipulator

A systematic and mathematical optimization methodology is presented for the optimal design of a three link, revolute joint, three-dimensional manipulator which must perform specific prescribed tasks. The objective of interest is the minimization of average torque requirement. In particular circular and eccentric closed task paths are considered. The optimization is carried out with the link lengths and the positional coordinates of the base taken as the five design variables, and subject to assembly and geometric constraints imposed on the system. In particular restrictions are placed on the joint angle between the links and on the link lengths. The minimization is successfully performed by the application of Snymans robust dynamic trajectory method for unconstrained optimization, to a penalty function formulation of the constrained problem.     

Open architecture dynamic manipulator design philosophy (DMD)

This paper presents a generic and universal architecture design for robotic manipulators. A flexible approach is taken to develop the design philosophy throughout, resulting in a hardware architecture that is portable, can be integrated and enables the implementation of advanced control methods. A software kernel of management, supervision and control was developed in order to obtain an easy user interface to the robotic researcher. The application of many such controls has, traditionally, often been severely restricted in partial commercial robotic systems because of limitations associated with their controllers; rather than the arms themselves.     

一种嵌入式串口共享服务器的设计

针对目前大多数串口服务器仅支持主副机而不支持多主机、不支持Modbus TCP转Modbus RTU等问题,设计了一种嵌入式串口共享服务器。该串口共享服务器采用Cortex-M3内核的LM3S9B92芯片设计,实现了单芯片以太网到3个串口的转换功能。测试结果表明,该串口共享服务器收发数据准确,通信速率高,且具有Modbus TCP转Modbus RTU功能。     

通信型智能操作器的设计与应用

针对电站锅炉均衡燃烧监控系统,研制开发了基于MODBUS现场总线的双通信型智能操作器。保证了锅炉的给煤量和送风量的合理匹配,使其燃烧最佳。介绍了双通信型智能操作器的硬件设计、软件设计及其数字双通信的实现。     

六维腕力传感器非线性正解耦方法设计

多维力传感器利用其多个转换单元完成测量加载于其结构上未知负载的作用效果,解耦是其设计的重要组成部分。针对传统静态线性解耦方法的不足,试图将传统线性解耦方程扩展为多项式结构,受其多元高次方式通解形式的启发,构造了一种多项式非线性静态正解耦方程,该方法无需传统线性解耦方法中的曲线拟合、逆解,不依赖以系统是线性为前提,且方程可以扩展成任意结构的多项式。实验结果表明:该方法能降低输出耦合误差。     

Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot

This paper describes the design of a six-axis force/moment sensor using FEM (finite element method) and its fabrication. In order to safely grasp an unknown object using an intelligent hand in robot, the hand has to perceive the weight of it. The weight is calculated by forces F_x, F_y, F_z measured from the six-axis wrist force/moment sensor attached to an intelligent robot's hand. And, in order to accurately push and pull an object, forces and moments should be measured. Also, the position of the robot's finger contacted on an object are calculated by forces F_x, F_y and F_z, and moments M_x, M_y and M_z measured from the six-axis wrist force/moment sensor. Therefore, an intelligent robot's hand should get a six-axis wrist force/moment sensor that can measure forces F_x, F_y and F_z, and moments M_x, M_y and M_z simultaneously. The size of the six-axis force/moment sensor for an intelligent robot’ wrist is very important. If its diameter is larger or its thickness (length) is longer, it cannot be mounted in robot's wrist or it will break down under the applied moment M_x or M_y. So, its size is similar to that of the wrist of human being, that is, the diameter is about 60–80 mm and the thickness (length) about 20–40 mm. But the manufactured sensors are not proper in size for the intelligent robot's wrist. Thus, the six-axis force/moment sensor should be developed for the intelligent robot's wrist.In this paper, the structure of a six-axis wrist force/moment sensor was modeled for an intelligent hand in robot newly. And the sensing elements of it were designed by using FEM and were fabricated by attaching strain-gages on the sensing elements. And, the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with the results from the experiments. The interference error of the sensor is less than 2.85%.     

大量程六维力传感器设计与标定研究

为提高大量程六维力传感器的灵敏度,设计了一种适用于机械臂末端的应变式传感器.该传感器采用十字梁式弹性体结构,通过优化应变梁结构和合理布置应变片等方式,使传感器在大量程条件下仍具有较高的刚度和灵敏度.使用有限元法分析验证了传感器应力分布的合理性,并根据最小二乘法标定原理对传感器进行解耦标定实验,实验结果表明:传感器静态性能良好,最小灵敏度为0.375 mV/N,满足使用要求.     

基于时间函数的并联六维力传感器量程设计

针对并联六维力传感器设计与制造过程中面临的解耦计算复杂、量程确定困难、实用性不强等问题,应用螺旋理论,推导了其受六维外力向测量分支反作用力的映射矩阵;基于工程实际,提出并建立了并联六维力传感器测量分支作用反力的时间函数模型;提出了一种在特定工作环境下测量分支量程的确定方法.以Stewart并联结构为例,针对曲面打磨作业,确定了其测量分支的量程,验证了时间函数模型的正确性和可行性.研究内容对提高并联结构六维力传感器的工程应用性有重要的实践价值.     

Design and performance evaluation of an actively compliant underwater manipulator for full-ocean depth

An underwater manipulator is described that can exhibit a wide range of compliance through a combination of mechanical design and software control and its performance characterized. The manipulator has been used in conjunction with the JASON Remotely Operated Vehicle at full-ocean depth. The major goal of the design was to produce a manipulator that can actively control the interaction forces with the work task in the hostile deep-ocean environment. The manipulator's performance has been characterized in the lab and its overall operational utility has been confirmed during tests to depths of approximately 4000 meters, including an archaeological excavation at 700 meters depth in the Mediterranean. The manipulator uses high performance brushless DC servomotors driving the joints though low-friction, zero-backlash reductions of moderate ratio consisting of cables and pulleys. Each joint is highly backdriveable and has a large range of rotation. This approach permits a variety of force control schemes such as impedance control to be implemented with no sensors other than the displacement sensors integrated with the brushless motor. It also permits high-quality torque servomechanisms to be directly implemented. This article outlines the design and illustrates the performance of a single joint in terms of friction, stiffness, and in implementing variable compliance and as a closed-loop torque servo.     

Modelling and simulation of an underwater manipulator

Recently, applications of articulated manipulators have increased to include extreme environments such as underwater and space. Simulation systems to support the design and control of industrial robots have been developed in many laboratories, and some high-speed calculation methods for inverse dynamics analysis of manipulators with series connections have been proposed. This paper deals with the dynamic simulation and modelling of underwater articulated manipulators. The dynamics of the above manipulators are formulated to evaluate the influence of the added mass tensor, the added inertia tensor, and fluid drag, and the lift on each arm according to classical Newton-Euler mechanics. Moreover, by generalizing this model, we can discuss the dynamics of a manipulator with dual arms and simulate some constrained motion of an end-effector. As an example of inverse dynamics analysis, the force and moment of a nine degrees of freedom (d.o.f.) manipulator with dual arms are analysed. As an example of direct dynamics analysis, hybrid control of both the force and the position of a 6 d.o.f. manipulator is simulated.     

一种计算机串行接口保护电路的设计

基于ESD保护的原理及TVS二极管的特性,设计了一种计算机串行接口的专用保护电路,并对电路板的PCB布线及器件的布置提出了一些原则要求,最后对此接口电路进行静电放电抗扰度试验。结果表明该保护电路具有一定的抗接触放电及空间放电能力,满足IEC61000-4-2标准的要求,此串行接口具有热插拔功能。     

双关节机器人操作臂控制系统设计

本设计针对工业现场使用的双关节机器人,主要完成了硬件系统平台构建和软件系统的设计。应用单片机技术,设计一款主从操作的控制器,能够根据旋转编码器的控制指令精确的控制电机的速度、位置、正反转等物理量,从而满足机器人操作臂精确位置伺服驱动的要求。     

Design and kinetostatic analysis of a new parallel manipulator

This paper proposes an innovative design for a parallel manipulator that can be applied to a machine tool. The proposed parallel manipulator has three degrees of freedom (DOFs), including the rotations of a moving platform about the x and y axes and a translation of this platform along the z-axis. A passive link is introduced into this new parallel manipulator in order to increase the stiffness of the system and eliminate any unexpected motion. Both direct and inverse kinematic problems are investigated, and a dynamic model using a Newton–Euler approach is implemented. The global system stiffness of the proposed parallel manipulator, which considers the compliance of links and joints, is formulated and the kinetostatic analysis is conducted. Finally, a case study is presented to demonstrate the applications of the kinematic and dynamic models and to verify the concept of the new design.     

封装串口数据通信协议的设计

为了提高串口数据通信的准确率、方便上层应用编程,设计了一个协议对串口数据通信协议进行封装。协议采用自定义报文格式封装串口数据帧的方式工作,利用报文应答机制保证传输正确性,该协议在线路故障出现时能有效检测并采取报文重发等措施保证数据准确传输。     

基于有源滤波器的串口通信设计与实现

介绍了基于DSP的并联有源滤波器与上位机的RS-232串口通信设计,给出了DSP串行通信的硬件接口电路和通信协议,并完成了串口通信的软件编程。下位机使用C语言和汇编语言混合编程,上位机采用Visual C++设计界面,并用串口控件MSComm编写串口程序,实现上位机对有源滤波器数据的采集、显示、处理和存储。调试结果表明,该串口通信设计可以实现上位机对有源滤波器的监控。     

Design and analysis of the statically balanced direct-drive robot manipulator

A practical architecture, using a four-bar linkage, is considered for the University of Minnesota direct-drive robot (Kazerooni, H., Kim, S.: A new architecture for direct drive robots. In Proc. IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, April 1988). This statically balanced direct-drive robot has been constructed for stability analysis of the robot in constrained manipulation (Kazerooni, H. et al.: Fundamentals of robust compliant motion for robot manipulators. IEEE J. Robotics Automation 2: 1986; Kazerooni, H.: On the robot compliant motion control. ASME J. Dynamic Systems Msmt Control; 111 (3): September 1989. Kazerooni, H. et al.: Theory and experiments on robot compliant motion control. ASME J. Dynamic Systems Msmt Control, June 1990). As a result of the elimination of the gravity forces (without any counterweights), smaller actuators and, consequently, smaller amplifiers were chosen. The motors yield acceleration of 5 g at the robot end point without overheating. High torque, low speed, brushless AC synchronous motors are used to power the robot. Graphite-epoxy composite material is used for construction of the robot links. A 4-node parallel processor has been used to control the robot. A compliant motion control method has been derived and experimentally verified to guarantee stable constrained maneuvers for the robot. As part of the research work, a general criterion has been derived to guarantee the stability of robot manipulators in constrained maneuvers.     

并联式六维加速度传感器灵敏度特性

基于一种新提出的并联式六维加速度传感器结构,从系统的正向动力学方程出发,构建了其灵敏度的数学模型,推导出灵敏度与结构参数间的映射关系.基于ADAMS软件对传感器进行参数化建模,并以灵敏度为优化目标,将仿真数值与理论计算的结果进行对比,验证了数学模型的正确性.结果表明:线加速度灵敏度主要受质量块的质量影响,角加速度灵敏度同时受质量块质量和边长影响,而外壳尺寸与灵敏度无关,且在空间三个正交方向的线加速度灵敏度和角加速度灵敏度均满足各向同性.     

六自由度检修机械臂合理路径规划系统设计

为减少六自由度检修机械臂抓取动作花费的时间,设计一种六自由度检修机械臂合理路径规划系统.此次研究的系统硬件部分主要包含主控制器、伺服电机控制器与通信模块.系统软件部分,计算出机器人与障碍物之间的距离,并计算出所有机器人上点与障碍物之间的距离,采用设置虚拟障碍物的创新型人工势场法进行路径规划,避免传统人工势场法的弊端,以...