机器人末端执行器自更换机构设计及对接策略

doi:10.13229/j.cnki.jdxbgxb20180592

摘要/Abstract

摘要：

为解决核电站机器人作业功能单一性的问题，研制了一种机器人末端执行器自更换机构。该机构采用同心三虎克铰并联的多力矩输出接口形式，为末端执行器及相关作业提供动力输入。在分析末端执行器自更换端与工具架之间双虎克铰被动柔顺对接特性以及容差条件的基础上，提出了一种基于接触力阈值的末端执行器自更换机构自动对接控制策略；完成了末端执行器自更换机构样机设计，利用SCHUNK 6自由度机械臂移动平台进行多种末端执行器的自动更换试验，验证了控制策略的有效性和机构的容差特性。试验结果表明：该机构能够完成较大容差柔顺对接并可以实现末端执行器动力传递功能。

关键词: 自动控制技术, 末端执行器自更换, 虎克铰, 柔顺对接, 动力传递

Abstract:

To solve the issue of the single ability for robot in the nuclear power plant, an autonomous exchange mechanism of the end-effector for robot is developed. The interface of multi-torque output with the concentric and parallel mechanism with 3-Hooke joints is used to provide power input for the end-effector with related operations. Based on analysis of the passive compliance and tolerance condition for the docking process of the double Hooke joints between the end-effector exchange and the tool rack, an automatic docking control strategy of the end-effectors exchange is proposed based on the contact force threshold. The automatic replacement of different end-effectors is realized by experiments, and the feasibility of the control strategy is verified. The mechanism prototype for end-effector exchange is designed. The exchange experiments of different end-effectors are carried out by the SCHUNK 6 DOF manipulator mobile experiment platform, which demonstrate the effectiveness of the control strategy, the tolerance performance of the mechanism. The experimental results show that the mechanism has completed docking process with larger tolerance compliant and realized the power transmission of the end-effector.

Key words: automation control technology, mechanical design, end-effector exchange, hooke joint, compliant docking, power transmission

中图分类号:

TH165

马常友, 高海波, 丁亮, 于海涛, 邢宏军, 邓宗全. 机器人末端执行器自更换机构设计及对接策略[J]. 吉林大学学报(工学版), 2019, 49(6): 2027-2037.

Chang-you MA, Hai-bo GAO, Liang DING, Hai-tao YU, Hong-jun XING, Zong-quan DENG. Mechanism design and docking strategy forend⁃effectors exchange of robot[J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 2027-2037.

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