【作者】 王怀军；

【导师】 张立勋；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2006， 硕士

【摘要】 人与机器人在同一作业空间合作作业的安全性问题已经使当今机器人技术发展面临巨大的考验。虚拟约束理论和人机合作机器人(Cobot)技术的产生，使人与机器人的安全合作成为可能。 课题重点对基于双单向轴承的Cobot关节不完全约束传动机构(NCT)进行了仿真研究，设计了工业Cobot样机，设计了总体控制方案，具体内容如下： 首先，根据虚拟约束理论，设计了基于双单向轴承的关节不完全约束传动机构，说明了其工作原理和工作模式。 其次，基于不完全约束的关节传动机构设计了工业尺寸的科研样机，进行了运动学正、逆分析并通过仿真验证。给出了作业空间及雅克比矩阵。 再次，重点对关节不完全约束传动机构的约束助动特性进行了动力学仿真分析，通过仿真验证了其工作的可靠性。 最后，依据关节特性仿真结果和Cobot总体结构设计了总体控制方案。主要进行了控制系统硬件的总体设计、接口设计和控制软件设计。更多还原

【Abstract】 The safety problem which the operators work with robots in the same workspace has been the main bottleneck of progress of the robotic technology. With the development of virtual constraint theory and the Cobot technology, this trouble can be solved.The paper emphasizes on the research of Nonholonomic Constraint Transmission(NCT) based on dual unilateral bearing which used in Cobot joints. In the paper a prototype has been developed with the general control scheme. The concrete content as follows:Firstly, according to virtual constraint theory, a NCT is designed which based on dual unilateral bearing. The paper explains the work principle and work mode of the NCT.Secondly, an experiment prototype with industry size is designed. The paper analyzes the kinematics of Cobot and derived the workspace and Jacobi matrix.Thirdly, the constraint dynamics of NCT is analyzed for its constraint and aid-power characteristics. According to simulation the reliability of NCT is feasible.Lastly, in terms of simulation results of joint characteristic and Cobot overall configuration a system control project is designed, which mainly includes the hardware, software and interface circuits of control system and so on.更多还原