【作者】 郭前建；

【导师】 孙晓；

【作者基本信息】 吉林大学 ， 机械电子工程， 2004， 硕士

【摘要】 现代工程技术领域提出的“人机协同”思想近年来已得到了初步发展，并在制造领域得到广泛地应用。机械手是先进制造环境下人机协同物流系统先进性的重要标志，在人机协同物流系统中，物料运输小车由人来驾驶，很难实现精确定位，用普通的智能机械手很难完成工件交换以及数控机床的上下料工作。研究有人参与、人机功能合理分配的人机协同机械手，可以解决这一亟待完成的课题。本文在人机协同思想的基础上，提出了人机协同机械手的概念，给出了人机协同机械手的技术体系，从新的角度分析了人机协同物流系统中人与机械手的关系，初步探讨了人机协同机械手的实现方法。为实现人机协同机械手的人机耦合，本文在对人机协同机械手接口装置力学原理、机械模型进行分析的基础上，进行了接口装置及其数据采集系统软硬件的设计，最后对人机协同机械手接口装置进行了实验研究，结果表明，本文设计的接口装置可以完成其预定功能。1、技术体系本文对人机协同机械手技术从其提出、基本原理，到其组成结构、稳定运行条件及其现实意义等方面进行了系统、全面的研究，得出了研究人机协同机械手的迫切性，并概括了人机协同机械手的概念。“人机耦合”环节是人机协同机械手系统中的关键，同时也是人机协同机械手技术先进性的重要标志。人机协同机械手的人机耦合原理框图如图1所示：2、人机协同机械手接口装置的实现方法为说明人机协同机械手接口装置的实现方法，本文首先对人机协同机械手接口装置的力学原理进行了研究，在此基础上给出了人机协同机械手接口装置的机械模型，并进行了人机协同机械手接口装置的设计和实际加工、安装与调试。最后给出了人机协同机械手接口装置在以后设计与应用过程中的改进建议。 <WP=67> 图1人机耦合原理框图3、人机协同机械手接口装置的数据采集为完成人机协同机械手接口装置的预定功能：人施加一空间任意信息牵引力于人机协同机械手接口装置，通过其数据采集系统能够在计算机上显示该空间任意力在三个坐标轴上的力分量。本文对人机协同机械手接口装置的软硬件进行了设计。对其数据采集系统硬件设计过程中所涉及的检测传感器、信号调理电路、数据采集卡以及工控机分别进行了介绍和设计。最后，本文采用面向对象的编程语言Visual Basic6.0进行了其数据采集系统的软件设计，给出了友好的人机交互界面，并通过调用数据采集卡的动态链接库，编写了数据采集程序。4、人机协同机械手接口装置的实验研究在完成人机协同机械手接口装置设计、制造的基础上，本文进行了人机协同机械手接口装置的数据采集实验。对所用到的检测传感器（电位计、拉力传感器）进行了标定实验，并对人机协同机械手接口装置的一次实际工作过程进行了数据采集。实验结果表明：人机协同机械手接口装置能够完成预定功能，这为下一步进行三自由度人机协同机械手的控制奠定了基础。图2是人机协同机械手接口装置在一次实际工作过程中所受的人手信息牵引力及其在三个坐标轴上力分量的动态响应图。 <WP=68>图2人手信息牵引力及其在三个坐标轴上分量的动态响应图5、本文的研究内容是对人机协同理论在先进制造环境下的人机协同物流系统中应用的有益探索，在国内第一次概括出人机协同机械手的概念，并研究了其实现方法，为今后人机协同机械手的实用化研究打下了基础。更多还原

【Abstract】 A theory on humachine cooperation thinking aimed at modern engineering technical field was proposed and having been developed primarily, and it is applying in manufacturing area widely. Manipulator is a significant sign of humachine material handling system’s advancement in advanced manufacturing environment. Because the dolly is driven by human in humachine material handling system, can’t be stopped accurately, and the workpiece exchange and load/unload of CNC can’t be fulfilled easily by common manipulator. So, studying the manipulator more effective and assisted by human being and assigned the task of human and manipulator reasonably can solve this urgent problem to the moment.The article proposed the conception of humachine cooperation manipulator based on the research on humachine theory, presented the technical system of humachine cooperation manipulator, analyzed the relation between the human being and manipulator in a new point of view in humachine material system and discussed humachine cooperation manipulator’s fulfil means primarily. In order to fulfil the humachine coupling of man-machine cooperation manipulator, the article designed humachine cooperation manipulator’s interface device and the software and hardware about its data-collection system on the basis of analyzing the mechanical principle and mechanical model of humachine cooperation manipulator’s interface device. In the end, the article had an experimental research on the humachine cooperation manipulator’s interface device, the experimental result indicated the device can fulfil the task of data-collection.1、Technical systemFrom the proposition and basal principle to the construct and practical meaning, the article studied humachine-cooperation manipulator technology systematically and comprehensively. On the basis of the studying, the definition of humachine-cooperation manipulator came into being, and a conclusion that the research on humachine cooperation manipulator is very urgent came into being at the same time. “Humachine coupling” is the choke point in humachine <WP=70>cooperation manipulator system. At the same time, it is a significant sign of humachine cooperation manipulator technology’s advancement. Fig 1 is the diagram of humachine coupling principle about humachine cooperation manipulator. Fig 1. Humachine coupling principle about humachine cooperation manipulator2、Design method of humachine cooperation manipulator’s interface deviceIn order to explain the design method of humachine cooperation manipulator’s interface device, the article studied its mechanical principle firstly, presented the mechanical model of humachine cooperation manipulator’s interface device based on the studying and had the mechanical design, practical machining, fixing and debugging of humachine cooperation manipulator’s interface device. Finally，the article proposed some improved advice about the interface device’s design and application in the future.3、Data-collection of humachine cooperation manipulator’s interface deviceIn order to fulfil the preconcerted function of humachine cooperation manipulator’s interface device: the component in 3-axis coordinate system about a dimensional pull can be showed on the computer through the data-collection system of humachine cooperation manipulator’s interface device when the worker adds pulls to it, the article designed the software and hardware about its data-collection system. Introduced the transducer, signal-rectify circuit, pc-7401 <WP=71>and industrial PC used in the process of the data-collection system’s design. The article designed the software of its data-collection system by OO Visual Basic6.0, presented friendly humachine interface, wrote the data-collection program. 4、Experimental study of humachine cooperation manipulator’s interface deviceThe article did an experiment on humachine cooperation manipulator’s interface device’s data-collection system based on the更多还原