• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (11): 195-205.doi: 10.3901/JME.2021.11.195

• 机器人及机构学 • 上一篇    下一篇

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倒挂式主从遥控机械手重力补偿方法

蒋君侠1, 董群1, 金杰峰2   

  1. 1. 浙江大学机械工程学院 杭州 310027;
    2. 杭州景业智能科技股份有限公司 杭州 310051
  • 收稿日期:2020-10-23 修回日期:2021-03-04 出版日期:2021-07-23 发布日期:2021-07-23
  • 通讯作者: 董群(通信作者),男,1997年出生,硕士研究生。主要研究方向为机器人结构设计与开发。E-mail:21925104@zju.edu.cn
  • 作者简介:蒋君侠,男,1968年出生,研究员,博士研究生导师。主要研究方向为智能装备结构创新设计与开发、机器人结构设计及其末端执行器开发、飞机数字化装配工艺装备设计、复合材料制造工艺装备设计与优化。E-mail:junxia.jiang@126.com

Gravity Compensation Method of Hanging Master-slave Telemanipulator

JIANG Junxia1, DONG Qun1, JIN Jiefeng2   

  1. 1. College of Mechanical Engineering, Zhejiang University, Hangzhou 310027;
    2. Hangzhou Jingye Intelligent Technology Co., Ltd., Hangzhou 310051
  • Received:2020-10-23 Revised:2021-03-04 Online:2021-07-23 Published:2021-07-23

摘要: 在核工业热室放射性环境中,由于操作人员不能直接进入封闭热室而使得只能采用主从机械手进行遥控操作,针对主从遥控机械手维持自身操作稳态的问题,提出了机械手重力补偿方法。首先,给出了热室内主从遥控机械手配置形式,以及主从手随动控制工作原理。其次,通过D-H运动学分析建立了机械手坐标变换矩阵与旋转矩阵,通过运动链分析得到旋转编码器与电机输出轴之间的关系矩阵以及各关节和电机输出轴之间的角度变换矩阵。再次,计算各个位姿下主机械手各关节连杆对各关节轴的扭矩,换算到电机输出轴上,使电机输出反向补偿扭矩以维持主手稳态。最后,在主从遥控机械手测试系统上进行试验验证。通过理论分析和试验研究表明,重力补偿算法精确,补偿效果显著。

关键词: 热室, 主从遥控机械手, 运动学, 关系矩阵, 重力补偿

Abstract: In the nuclear industry hot cell and radioactive environment, because the operator cannot directly enter the closed hot cell, only the master-slave manipulator can be used for remote control operation. This research proposed a gravity compensation method for a master-slave telemanipulator to maintain its own steady state. Firstly, it introduced the configuration of the master-slave telemanipulator in the hot cell and the control working principle of the master-slave manipulator. Secondly, the coordinate and angle transformation matrix is established by D-H kinematics analysis of the master manipulator, and the angle transformation matrix between the rotary encoder and the motor output shaft is obtained through the kinematic chain analysis. Besides we also established the relationship matrix between each joint and the motor. Thirdly, the torque of each moving part of the master manipulator to each output shaft in each posture is calculated, converted to the motor output shaft, so the motor outputted the reverse compensation torque to maintain a steady state. Finally, test verification is carried out on the test system of master-slave telemanipulator. Theoretical analysis and experiment show that the gravity compensation algorithm is accurate and the compensation effect is remarkable.

Key words: hot cell, master-slave telemanipulator, kinematics, relation matrix, gravity compensation

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