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山东大学学报 (工学版) ›› 2018, Vol. 48 ›› Issue (6): 122-131.doi: 10.6040/j.issn.1672-3961.0.2018.237

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核环境多关节蛇形机械臂的运动控制系统设计

张强()   

  1. 中国科学院合肥智能机械研究所, 安徽 合肥 230031
  • 收稿日期:2018-06-06 出版日期:2018-12-20 发布日期:2018-12-26
  • 作者简介:张强(1982—)，男，河南信阳人，副研究员，博士，研究方向为特种机器人. E-mail:zhangqiang@iim.ac.cn
  • 基金资助:
    国家自然科学基金资助项目(61503361)

Motion control system design of multi-joint snake-like manipulator for nuclear environment

Qiang ZHANG()   

  1. Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, Anhui, China
  • Received:2018-06-06 Online:2018-12-20 Published:2018-12-26
  • Supported by:
    国家自然科学基金资助项目(61503361)

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摘要：

以核聚变反应舱的探测和维护作业为例,设计一种具有多关节串联式结构的蛇形遥操纵机械臂系统,结构采用轨道推送加悬臂调整的复合式操控方案。针对机械臂执行全舱作业的运动需求,对机械臂运动轨迹进行仿真分析。设计包括路径规划与轨迹控制等的机械臂运动控制算法,构建各关节在运动学上能够同步运行的多轴协调控制系统。通过搭建模拟舱几何环境,对机械臂进行运动测试,完成关节旋转角度的控制精度评估。构建机械臂系统的重力补偿模块,通过柔性模型的仿真验证对机械臂系统的末端定位精度加以评估。测试结果验证了运动控制系统的有效性。

关键词: 核聚变反应舱, 蛇形机械臂, 路径规划, 多轴协调控制, 控制精度

Abstract:

Based on the detection and maintenance work in the nuclear fusion reactor vessel as an example, a snake-like remote control manipulator with multi-joint series structure was presented, which adopted a composite control plan based on track push pull and adjustment with suspending arms. Aiming at the demand of the manipulator to carry out the whole vessel operation, the trajectory of the manipulator was simulated and analyzed. A motion control algorithm including path planning and trajectory control was designed, and a multi-axis coordination control system was established. The motion of the manipulator was tested inside the geometric simulation vessel environment, and the control accuracy of the joint rotation angle was evaluated. The gravity compensation module of the manipulator system was constructed, and the terminal positioning accuracy of the manipulator system was evaluated by the simulation of the flexible model. The test results verified the effectiveness of the motion control system.

Key words: nuclear fusion reactor vessel, snake-like manipulator, path planning, multi-axis coordinate control, control precision

中图分类号: 

  • TP242

图1

多关节蛇形机械臂系统总体结构"

图2

多关节蛇形机械臂系统运动自由度分析及原理样机展示"

图3

机械臂探测作业过程运动轨迹仿真分析图"

图4

机械臂运动控制系统框图"

图5

机械臂运动控制系统工作流程图"

图6

机械臂运动控制硬件系统及软件界面图"

图7

机械臂在EAST模拟核聚变舱内的运动控制试验"

图8

基于机器视觉的机械臂关节旋转角度测量方案"

表1

机械臂关节旋转控制精度测试结果"

(°)
关节序号 绝对角度 相对角度 转动刻度 顺/逆时针 θr
1 18.92 0 逆
2 17.85 1.07 1 000 逆 1.07
3 16.62 1.23 1 000 逆 1.23
4 15.41 1.21 1 000 逆 1.21
5 14.37 1.04 1 000 逆 1.04
6 11.90 2.47 2 000 逆 1.23
7 4.14 7.76 6 000 逆 1.29
8 -3.80 7.94 6 000 逆 1.32
9 11.38 15.18 12 000 顺 1.27

图9

机械臂关节旋转控制精度测试曲线图"

图10

机械臂各关节的位置跟踪曲线图"

图11

机械臂重力补偿模块结构"

图12

水平关节臂模块、重力补偿模块以及末端关节臂模块的柔性模型"

图13

多关节机械臂的系统柔性模型"

图14

机械臂系统邻近坐标系变换"

图15

典型位型下的多关节机械臂变形图"

图16

校正前后的位置误差曲线图"

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