【作者】 赵磊；

【导师】 贾振元；

【作者基本信息】 大连理工大学 ， 机械电子工程， 2008， 硕士

【摘要】 核电、造船、化工、国防等领域的大型构件精确高效制造迫切需要巨型重载操作装备。随着对操作能力和操作性能要求的进一步提高,要求巨型重载操作装备具备顺应控制和多自由度协调控制的能力,而状态测量与反馈作为精确运动控制的前提,成为亟待解决的关键技术难题。尤其是为了避免因约束冲突造成的载荷剧增或夹持失效,要求对工件变形所造成的位移具有力顺应性,因此研究极端环境下的六维大力测量及力反馈具有重要的意义。然而,目前对于100kN至100MN量级的大力只能进行单维测量,现有的六维力传感器仅局限于小量程力值的测量。因此,解决大承载能力和多维力测量之间的矛盾,成为实现六维大力测量的关键。本论文结合Stewart结构力雅克比矩阵和大力并联分载原理,提出了一种用于巨型重载操作装备六维大力测量的新方法。在ANSYS环境下建立了Stewart结构六维大力传感器的模型,并对其进行了结构静力分析,得到了传感器六个测量杆的受力情况,与分载前的理论受力值进行了比较,验证了传感器的分载效果。通过对传感器模型进行模态、谐响应等结构动力学分析,得到了传感器的前六阶振型和固有频率,以及传感器在X、Y、Z方向的谐位移情况。论文完成了Stewart结构六维大力传感器的结构设计、制造装配等工作。采用六对预紧螺栓和滑块实现传感器的多点局部预紧,保证了六个测量杆的预紧力相同;上下测量杆均采用螺纹联接,使测量杆长度可调,满足了传感器复杂工况的安装要求;上下平台与测量杆采用球头与锥形孔联接,保证了测量杆的二力杆性质;传感器与机械手手臂之间采用胀紧联接套联接,保证了大力并联分载和力传递的效果。最后,在专用标定加载装置上对研制的Stewart结构六维大力传感器进行了静态标定实验,得到了传感器的标定曲线和实验解耦矩阵。通过静力分析,可知所设计的传感器具有良好的分载效果,验证了六维大力并联分载测量方法的可行性;动力学分析结果表明研制的传感器动态特性良好,满足传感器固有频率大于1000Hz的设计要求;静态标定实验表明传感器具有良好的测量精度。本论文的研究工作为巨型重载操作装备的快速高精度协调控制提供了前提条件。更多还原

【Abstract】 The giant heavy operating equipment is urgently needed in the high-efficiency and high-precision manufacturing of huge parts, which are used as key components in the field of nuclear power, ship building, chemical industry and national defense. In order to meet the higher operating ability and performance, the giant heavy equipment operator should have the ability of conformable control and coordinate control. So as the basic of precision motion control, the measurement and its feedback are becoming the key technology to be solved. In particular, in order to avoid conflict caused by the increased loading or invalid holding, the giant heavy operating equipment should have the ability of the force conformance according to the deformation of the huge parts. Thus, the study of the six-axis heavy force measurement as well as its feedback technology is becoming more and more important. Nowadays, the heavy force between 100kN and 100MN can be measured, but can only be realized on the single axis, and the existing six-axis measurement is also limited to small force. In this paper, we focus on the problem between the six-axis force measurement and the heavy force measurement to do some research.This paper firstly analyses the force Jacques matrix based on the Stewart structure and the theory of heavy force division, then brings out a new method of the six-axis heavy force measurement used on the giant heavy operating equipment. We use Finite Element Method to establish the model of the Stewart structure six-axis heavy force sensor, and then do some static structure analysis, and get the divided force on the six measuring poles. Compared with the undivided situation, the results show that the Stewart structure six-axis heavy force sensor has a good effect of force division. Through the modal analysis, we get the prime six formations and natural frequencies. Through the harmonic analysis, we input harmonic signals with different frequencies, and get the X, Y, Z harmonic displacement of the Stewart structure six-axis heavy force sensor.We design and assemble the Stewart structure six-axis heavy force sensor. During this period, we take the following innovations: using six pairs of bolts and sliders to realize the partial pre-loading; using ball and cone-shaped hole connection to realize the single-loading character of the measuring poles; using threaded connection to meet the length of the measuring pole adjustable; using the wedge-shaped device to realize the rigid connection between the sensor and the robot arm. Finally, we use our special calibration device to finish the static calibration of the Stewart structure six-axis heavy force sensor, and get the calibration curves and decoupled matrix based on experiment.The result of the static analysis shows the sensor has a good ability of force dividing, and proves the feasibility of the Stewart structure six-axis heavy force measurement. The dynamic analysis shows the sensor has a good dynamic performance, and its natural frequency is beyond the required 1000Hz. The calibration experiments show the sensor has good measurement accuracy. The research will give some technical support to the high-precision coordinate control of the giant heavy operating equipment.更多还原