基于Matlab的机械手运动学分析与仿真

在Solidworks中对上下料机械手进行三维建模,运用Craig版本的D-H法来描述机器人的连杆参数和关节变量,运用代数法求解出其运动学方程,在Marlab Robotics Toolbox中运用Link函数对其建模,并对其进行正向和逆向运动学仿真,从而验证数学方程的正确性。选取一小段路径对其进行轨迹规划,得出机械手末端执行器的空间轨迹以及各关节连续平稳的位移、速度和加速度曲线,延长了机器人的使用寿命,为机械手后期的动力学分析和控制研究提供了一定的理论基础。     

智能作业系统的研究

通过智能机械手作业的过程介绍了在传感器系统，关节直流电机的控制和专用电源等几个方面的结构情况。     

基于模糊补偿的RBF神经网络机械手控制

针对机械手系统的高精度轨迹跟踪控制,提出了一种基于模糊补偿的RBF（radial basis function）神经网络机械手控制方法.该方法首先利用PD（proportional-integral）控制器获得机械手的控制策略,将其输出作为RBF神经网络的输入,并学习得到系统模型;然后运用模糊逻辑补偿器对系统扰动和建模误差进行补偿;最后,在MATLAB/Simulink平台上针对两关节机械臂,进行了有模糊补偿和无模糊补偿系统跟踪的均方根误差测量仿真实验.研究结果表明,两关节机械臂的控制精度分别提高了60.8%和71.4%,本文提出的方法能够解决机械手实际模型很难精确建立的问题,并能对系统未建模部分和扰动部分进行自适应补偿.      

关于带闭链工业机器人的动力学建模研究

本文在以影响系数矩阵为基础进行带闭链机器人的动力学方程推导时，采用了符号一数值方法。在计算机上获得一，二阶影响系数矩阵和动力学方程中各矩阵元素的最简解近表达式，解决了当分支的广义坐标数不等于６时出现的长方形（奇异）矩阵求逆的解析表达问题。在ＶＡＸ机上偏制调试出了该方法应的软件，并应用于一个带单闭链地的的孤焊机械手的动力学建模。     

公路智能检测机械手设计与数学建模

针对机器视觉应用于公路复杂构造物检测时图像采集质量低、适应性差等问题,提出了一种基于机器人技术的空间位姿调整方案,研究了智能检测机械手的结构设计、数学建模等。基于复杂表面检测系统工作原理及关键技术,对机械手的总体结构、基座、工作平台及运动分支等进行了详细设计;面向应用需求建立了包含相机安装参数的智能机械手位姿补偿模型,基于各运动分支连杆参数建立了机械手运动学模型,给出了各主动输入量的数学表达式;通过数值方法,分析了机械手在不同设计时速的隧道内检测时的位姿补偿以及运动分支主动输入量,并阐明了系统工作原理。     

基于光电位移检测的振动主动被动复合控制

用位置敏感探测器检测振动信号，与传统的加速度传感器相比，提高了系统检测精度，缩短了响应时间，减小了时滞对隔振性能的影响．建立了振动主动被动复合控制系统的动力学模型，设计制作了实验装置，并对隔振性能进行了实验测试．实验结果表明，振动主动被动复合控制兼有主动控制和被动控制的优点，具有良好的隔振效果，在频率10～1500Hz基础激励范围内，动传递率低于20％．     

平面二自由度冗余驱动并联机器人控制实验研究

对平面二自由度冗余驱动并联机器人进行了逆运动学分析,由末端执行器的位置计算得到主动关节角的位置.分别采用传统的PID控制方法和PID+速度前馈补偿+加速度前馈补偿的方法对并联机器人轨迹跟踪问题进行了实验研究.通过比较2种控制方法的轨迹跟踪效果和比较由连接在连杆上的加速度传感器测量的振动大小,证明了PID+速度前馈补偿+加速度前馈补偿的方法能更好地实现轨迹跟踪.     

一种新的异类多传感器系统误差融合估计算法

为解决由测向测时差无源被动传感器与主动传感器组网探测时异类多传感器系统误差估计问题,提出了一种新的异类多传感器系统误差融合估计算法.首先,通过对主被动传感器进行组合并构建异类传感器系统误差量测模型,实现了各组合传感器系统误差的实时估计;其次,通过建立多传感器融合估计结构,对多传感器系统误差的组合估计信息进行融合并反馈,获得了各传感器系统误差的全局融合估计.蒙特卡罗仿真结果表明:该算法能够对组网探测系统中各主、被动传感器的测向测时差及测距系统误差进行有效的融合估计,具有较高的工程应用价值.     

电控共轨高压泵凸轮机构动力学仿真及优化设计

根据电控高压共轨系统供油泵的工作特点,运用凸轮机构动力学原理建立了凸轮机构动力学多自由度模型,并利用Simulink建立了该凸轮机构的仿真模型,参照 Bosch泵凸轮机构的结构参数,计算了凸轮从动件-柱塞的实际位移与其理论位移的误差.通过仿真分析,研究各设计参数对凸轮运动规律的影响,为电控高压泵的优化设计提供了良好的理论依据.     

准高速机车牵引齿轮用钢及其强化工艺

论述了准高速机车牵引齿轮用钢及强化工艺中的若干问题，提出主动与从动牵引齿轮可分别选用２０ＣｒＮｉ２Ｍｏ及１５ＣｒＮｉ６钢，并进行渗碳淬火处理，文中对渗碳淬火工艺以及及钢材和热处理质量检验提出了具体要求。     

STATIC CORRECTION MODES IN DYNAMICAL SIMULATION OF FLEXIBLE MULTIBODY SYSTEM WITH CLOSED LOOPS

ＳＴＡＴＩＣＣＯＲＲＥＣＴＩＯＮＭＯＤＥＳＩＮＤＹＮＡＭＩＣＡＬＳＩＭＵＬＡＴＩＯＮＯＦＦＬＥＸＩＢＬＥＭＵＬＴＩＢＯＤＹＳＹＳＴＥＭＷＩＴＨＣＬＯＳＥＤＬＯＯＰＳ＊ＹｕＱｉｎｇ（于清）ＨｏｎｇＪｉａｚｈｅｎ（洪嘉振）（Ｄｅｐｔ．ｏｆＥｎｇｉｎｅｅｒ...     

Inverse Kinematics Analysis of Weld Inspection Manipulator at Pipe Joint in Nuclear Industry

A redundant manipulator that can online clamp pipe was developed to track along a cylinder intersection curve. With an ultrasonic transducer mounted on its end-effector, the manipulator can perform welding seam inspection at pipe joint in nuclear industry. An inverse kinematics solution expressed in joint space was solved based on the combination of geometric method and D-H matrix transformation. Expression about joints variables was obtained based on the scanning parameters of pipeline. The analysis method and results can be widely applied for online trajectory planning of intersection curve scanning manipulators.     

A comprehensive evaluation method for kinematic accuracy of space manipulator based on analytic hierarchy process

The kinematic accuracy of space manipulator determines whether the spacecraft performs normally or not. Problems pertaining to structural deformation have received increased attention in recent times. In the space manipulator systems, flexible arms and joints can induce drastic dynamic instabilities. In applications such as the space station, kinematic error due to structural deformation can jointly affect the performance characteristics. And it is crucial for accuracy control of space manipulator to establish a precision index. Here we analyze the dynamics characteristic of flexible space manipulator considering the hysteresis of harmonic reducer based on method of nonconstraint boundary modal. For the sake of describing the output accuracy, we integrate the method of analytic hierarchy process(AHP) to establish a comprehensive evaluation index. A numerical simulation is performed to analyze the nonlinear dynamic characteristics of space manipulator with harmonic reducer. With the analysis of accuracy assessment, the relation among the hysteresis angle, rigidity and output accuracy is revealed. Considering the elastic modulus of flexible space manipulator and the hysteresis angle of harmonic reducer, we conduct an evaluation of output characteristics of flexible space manipulator with the proposed comprehensive evaluation index. The accuracy evaluation of output characteristics based on the proposed comprehensive evaluation index is implemented in the initial stage of space manipulator’s design, which can not only solve the problems existing in the design but also save cost savings for ground tests. The results can be used in designing and optimizing future space manipulators, which may provide valuable references for design and thermal control of the space manipulator.     

Modeling Study of Planar Flexible Manipulator Undergoing Large Deformation

The planar flexible manipulator undergoing large deformation is investigated by using finite element method (FEM). Three kinds of reference frames are employed to describe the deformation of arbitrary point in the flexible manipulator, which are global frame, body-fixed frame and co-rotational frame. The rigid-flexible coupling dynamic equation of the planar flexible manipulator is derived using the Hamilton’s principle. Numerical simulations are carried out in the end of this paper to demonstrate the effectiveness of the proposed model. The simulation results indicate that the proposed model is efficient not only for small deformation but also for large deformation.     

六自由度重载装配机械手运动学分析及求解

针对汽车装配生产线作业对重载高精度的自动设备的需求,设计了一种液压驱动的六自由度多功能重载装配机械手。运用Denavi-Hartenberg(D-H)方法构建了机械手的运动学模型,分析了重载装配机械手的工作原理和正、逆运动学求解方法。从机械手的正、逆运动学方程的求解结果可以看出,采用液压方式实现对机械手6个自由度的驱动,具有驱动力大、操作简单、安装准确的特点,可适应多种汽车重载装配的需要。     

Dynamic model of underwater snake-like robot using Kane’s method

In this paper, a dynamic model for an underwater snake-like robot is developed based on Kane＇s dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The partial velocity is deduced. The forces which contribute to dynamics are determined by Kane＇s approach. The generalized active forces and the generalized inertia forces are deduced. The model developed in this paper includes inertia force, inertia moment, gravity, control torques, and three major hydrodynamic forces： added mass, profile drag and buoyancy. The equations of hydrodynamic forces are deduced. Kane＇s method provides a direct approach for incorporating external environmental forces into the model. The dynamic model developed in this paper is obtained in a closed form which is well suited for control purposes. It is also computationally efficient and has physical insight into what forces really influence the system dynamics. The simulation result shows that the proposed method is feasible.     

A dynamic model of an underwater quadruped walking robot using Kane’s method

In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane＇s approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.     

两自由度机械手周期运动的倍周期分岔

为了研究两自由度机械手系统的动力学稳定性，基于拉格朗日方程给出了它的运动微分方程，并用扰动理论确定系统周期运动具有周期系数的扰动微分方程；根据Floquet理论对该系统扰动微分方程的平衡点的稳孝性进行了分析，并用数值方法研究了平衡点失稳后的倍周期分岔过程．研究表明，随系统参数的改变，当系统特征矩阵有特征值-1时，系统将发生倍周期分岔。     

长臂机械手手臂结构的有限元分析

在长臂机械手手臂结构设计中,除考虑强度问题外,还要考虑刚度问题,即机械手在抓起工件后,手臂受力会产生变形,要使机械手满足位置精度要求,必须控制机械手手臂在受力后的变形值,使它在允许范围内。本文采用梁单元的有限元法,着重介绍了截面尺寸不同的长臂机构手手臂的静、动态特性分析程序设计及计算实例。