轻型柔顺机械臂结构设计与控制

摘要

A lightweight compliant robotic arm with 3DOF is designed to make the robot arm have better position tracking performance and human-robot interaction security.Using carbon fiber material to achieve lightweight,a series elastic actuator (SEA) is designed to realize the structural compliance of the robotic arm.The kinematic model and dynamic model are set up for the light weight compliant 3DOF robotic arm.The work space of the robotic arm is computed based on its kinematic model.The position control experiment of the robotic arm is designed.The position and pose of the robotic arm are obtained by the MTI position sensor,and MTI position errors correction is proposed.By comparing the following performance of the joints of the robotic arm and MTI position,the position following error of the joint 1,2,3 are 7％,5％,2％,and the maximum position errors on X,Y,and Z are 19.25％,14.43％,6.4％.The results show that the robotic arm reaches a good position tracking performance in free workspace.%为了使机械臂具有较好的位置跟随性和人机交互时的安全性,设计了一款3DOF的轻型柔顺机械臂.采用碳纤维材料实现轻量化,设计了串联弹性驱动器(SEA)实现机械臂结构的柔顺性.建立了3DOF轻型柔顺机械臂的运动学和动力学模型,并求解了工作空间;设计机械臂的位置控制实验,通过MTI位姿传感器来获取机械臂末端位姿,提出了MTI位置误差修正的方法,实验表明:当机械臂处于自由状态时,通过对比机械臂各关节和MTI末端位置的跟随性能,得知1,2,3各关节的位置跟随误差分别为7％,5％,2％,末端X,Y,Z 3个方向的最大位置误差分别为19.25％,14.43％,6.4％,证明该机械臂末端具有较好的位置跟随性.