4自由度電液伺服控制機(jī)械手力控制系統(tǒng)設(shè)計(jì)

4自由度電液伺服控制機(jī)械手力控制系統(tǒng)設(shè)計(jì),4自由度電液伺服控制機(jī)械手力控制系統(tǒng)設(shè)計(jì),自由度,伺服,控制,節(jié)制,機(jī)械,手力,控制系統(tǒng),設(shè)計(jì) 中文摘要 隨著對(duì)海底、地下資源和宇宙空間的合理開(kāi)發(fā)和利用，高溫、高壓、強(qiáng)輻射、窒息等極限環(huán)境的作業(yè)將經(jīng)常遇到，在這種人們難以靠近或非常危險(xiǎn)的場(chǎng)所，由處在安全場(chǎng)所的操作者通過(guò)一種有效的通信系統(tǒng)操縱機(jī)械手進(jìn)入危險(xiǎn)的場(chǎng)所進(jìn)行遠(yuǎn)距離操作，把人從惡劣、危險(xiǎn)的作業(yè)環(huán)境中替換出來(lái)。這種操作方式正作為一種有效的手段被開(kāi)發(fā)利用。隨著社會(huì)的進(jìn)步與經(jīng)濟(jì)的發(fā)展，人們對(duì)遙操作機(jī)器人提出了越來(lái)越高的要求，具有無(wú)線(xiàn)通信的遙操作機(jī)器人系統(tǒng)將在未來(lái)的生活及特殊領(lǐng)域的工作中發(fā)揮其得天獨(dú)厚的和無(wú)可替代的作用，創(chuàng)造出巨大的經(jīng)濟(jì)效益與社會(huì)效益。機(jī)械手是工業(yè)機(jī)器人系統(tǒng)中傳統(tǒng)的任務(wù)執(zhí)行機(jī)構(gòu)，是機(jī)器人的關(guān)鍵部件之一。機(jī)械手的機(jī)械結(jié)構(gòu)采用滾珠絲桿、液壓缸等機(jī)械器件組成；電氣方面有驅(qū)動(dòng)模塊、傳感器、開(kāi)關(guān)電源、電磁閥、等電子器件組成。該裝置涵蓋了可編程控制技術(shù)，位置控制技術(shù)、氣動(dòng)技術(shù)、檢測(cè)技術(shù)等，是機(jī)電一體化的典型代表儀器之一。本課題開(kāi)發(fā)的機(jī)械手可在空間抓放物體，動(dòng)作靈活多樣，可代替人工在高溫和危險(xiǎn)的作業(yè)區(qū)進(jìn)行作業(yè)，并可根據(jù)工件的變化及運(yùn)動(dòng)流程的要求隨時(shí)更改相關(guān)參數(shù)。 關(guān)鍵詞：機(jī)械手 遙操作 力反饋 工程機(jī)器人 電液伺服系統(tǒng) Abstract With the reasonable exploitation and use of the submarine and underground resources and the space in the universe, we have to be faced with the extreme environment such as high temperature, heavy pressure, heavy radiation or suffocation. In order to do work in these difficult-to-approach or dangerous places, the operators can do it far by an effective telecommunication system----remotely controlling a robot, freeing human workers from these dangerous working environments. This operating method is being exploited as a means of effective one. With the development of society and economy, there are more and more demands for the remotely-controlled robot. The tele-robot system will be of unique superiority in the future life and certain special fields. And it should have great effect on society and economy. The robot arm is the traditional task-operating component in the industrial robot system, and is one of the key components. The machine structure consists of the bead curl pole, slippery pole and cylinder. This equipment is composed of the programmable control technique, the position control technique, air driving technique, the monitor technique, and is one of the typical representation of the integration of mechanism and electricity. This topic draw up the material porterage the machine hand of the development and can grasp to put the object in the space, act vivid and diverse, the commutability artificial carries on the task in the area of the heat and danger, and at any time change the related parameter according to the difference of the workplace and the request of the product processes. Keywords：Robot manipulator Tele-operation Force feedback Construction Robot Electro-hydraulic servo system 目 錄 第一章 緒 論 1 1.1 課題背景 1 1.2 設(shè)計(jì)任務(wù)及要求 7 第二章 四自由度機(jī)械手的運(yùn)動(dòng)學(xué)分析 9 2.1 四自由度機(jī)械手連桿的幾何參數(shù) 9 2.2 機(jī)械手的連桿坐標(biāo)系 12 2.3 四自由度機(jī)械手的動(dòng)力學(xué) 13 第三章 機(jī)械手電液伺服控制系統(tǒng)設(shè)計(jì) 14 3.1 系統(tǒng)組成 14 3.2 液壓系統(tǒng)設(shè)計(jì) 14 第四章 機(jī)械手齒輪與鍵的設(shè)計(jì)計(jì)算 18 4.1 齒輪的設(shè)計(jì)計(jì)算 18 4.2 鍵聯(lián)接強(qiáng)度設(shè)計(jì)計(jì)算 22 第五章 機(jī)械手力信號(hào)采集與處理系統(tǒng)設(shè)計(jì) 24 5.1 雙向伺服控制理論 24 5.2 實(shí)驗(yàn)方案 26 5.3 力反饋控制系統(tǒng) 27 5.4 信號(hào)采集與處理 28 5.5 壓力傳感器完整電路 34 第六章 機(jī)械手力信號(hào)電氣電路轉(zhuǎn)換系統(tǒng)設(shè)計(jì) 36 6.1 電氣原理方案設(shè)計(jì) 36 6.2 電氣元件的選擇 36 6.3 PID控制算法 40 6.4 A/D、D/A轉(zhuǎn)換電路的連接 42 6.5 A/D、D/A轉(zhuǎn)換電路程序設(shè)計(jì) 45 致 謝 48 參考文獻(xiàn) 49 附 錄 51 III