【作者】 刘鑫；

【导师】 胡明；

【作者基本信息】 东北大学 ， 机械制造及其自动化， 2010， 硕士

【摘要】 近年来,以工业机器人为代表的串联机器人得到了广泛的应用,尤其在自动化程度很高的生产线上,串联机器人更是成为代替重复单调劳动力、提高生产效率和产品质量的重要途径。随着串联机器人在航空航天、精密制造等领域的逐渐应用,轻质、高速、高机动性将成为其发展的一个重要方向。但由此造成的低频机械振动、末端定位精度下降等问题,则成为这类串联机器人需要解决的关键问题。本文在研究三自由度串联机器人运动方程,以及磁流变阻尼器动力学模型和动态特性的基础上,通过对半主动控制方法和控制算法的研究,利用磁流变阻尼器,进行了三自由度串联机器人振动半主动控制的仿真与实验研究。本文的工作主要有以下几个方面：(1)在广泛阅读文献的基础上,了解振动控制方面的基本知识,确定进行串联机器人振动控制的半主动控制方法及其算法；(2)对三自由度串联机器人进行建模,并通过数学方法解出其垂直方向振动与阻尼系数之间的关系；(3)介绍磁流变液的磁流变效应与磁流变阻尼器的工作模式及其动力学模型,探讨磁流变阻尼器主要参数之间的关系,利用数据拟合的方法求出磁流变阻尼器阻尼系数与输入电流之间的关系；(4)根据三自由度串联机器人数学模型与磁流变阻尼器力学模型,建立振动半主动控制系统的Simulink仿真程序,通过双态控制和模糊控制进行机器人的振动控制仿真研究,并比较这两种控制算法的控制效果；(5)进行串联机器人实验模型振动半主动控制系统的实验研究,验证其控制效果。更多还原

【Abstract】 In recent years, serial robot represented by industrial robot has got a wide range of applications. Especially in highly automated production line, serial robot has become an important way to replace monotonous labor, increase production efficiency and product quality. With the gradual application in aerospace, precision manufacturing, and other areas, lightweight, high-speed, and high mobility will become an important development direction of serial robot. But the resulting problems, such as low-frequency mechanical vibration and the loss of positioning, are becoming the bottleneck for this kind of serial robot to development.This paper uses MR damper to do vibration control of the serial robot experimental model through researching the semi-active control method and control algorithm, which is based on the mathematics model of 3-DOF serial robot, as well as studying dynamic model and dynamic response of MR damper. This work mainly consists of the following aspects:(1) Based on the widely read documents, this paper narrates the basics of vibration control, and ascertains the semi-active control method and its algorithm to control vibration of serial robot;(2) 3-DOF Serial robot experimental model designed is modeled, and the relationship between the vertical vibration and damping coefficient of the model is got through mathematical method;(3) This paper does a study of the magnetic effect of MR fluid damper and the work pattern and dynamic model of MR damper, discusses the relationship of the main parameters of MR damper, and then determines the relationship between the damper damping coefficient and input current by fitting method of data;(4) According to the 3-DOF serial robot the mathematics model and MR damper dynamic model, this paper builds the Simulink simulation block diagram of control system, proceeds the robot model’s control simulation through the two-state control and fuzzy control, and compares the control effect of these two control algorithms;(5) The experimental study of vibration semi-active control system of the serial robot test model is done to verify the control effect.更多还原