線圈放線機(jī)構(gòu)控制系統(tǒng)設(shè)計(jì)【包含CAD高清圖紙及說明書】【YC系列】

【溫馨提示】=【1】設(shè)計(jì)包含CAD圖紙 和 DOC文檔，均可以在線預(yù)覽，所見即所得，dwg后綴的文件為CAD圖，超高清，可編輯，無任何水印，充值下載得到【資源目錄】里展示的所有文件=【2】若題目上備注三維，則表示文件里包含三維源文件，由于三維組成零件數(shù)量較多，為保證預(yù)覽的簡(jiǎn)潔性，店家將三維文件夾進(jìn)行了打包。三維預(yù)覽圖，均為店主電腦打開軟件進(jìn)行截圖的，保證能夠打開，下載后解壓即可。=【3】特價(jià)促銷，拼團(tuán)購買，均有不同程度的打折優(yōu)惠，詳情可咨詢QQ：1304139763 或者 414951605=【4】 題目最后的備注【YC系列】為店主整理分類的代號(hào)，與課題內(nèi)容無關(guān)，請(qǐng)忽視 常州大學(xué)畢業(yè)設(shè)計(jì)（論文）任務(wù)書 懷德 學(xué)院 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 專業(yè) 機(jī)制（懷）101 班 王持濤同學(xué)：現(xiàn)給你下達(dá)畢業(yè)設(shè)計(jì)（論文）任務(wù)如下，要求你在預(yù)定時(shí)間內(nèi)，完成此項(xiàng)任務(wù)。一、 畢業(yè)設(shè)計(jì)（論文）題目線圈放線機(jī)構(gòu)控制系統(tǒng)設(shè)計(jì)二、畢業(yè)設(shè)計(jì)（論文）依據(jù)及參數(shù)控制線圈放線速度v=0.7m/min左右針對(duì)電機(jī)轉(zhuǎn)速快慢選擇適當(dāng)?shù)膫鞲衅魅?、畢業(yè)設(shè)計(jì)（論文）目標(biāo)及內(nèi)容隨著生產(chǎn)自動(dòng)化和無人化以及批量化的發(fā)展，越來越多的生產(chǎn)環(huán)節(jié)使用自動(dòng)化機(jī)器操縱。本次課題是針對(duì)ABB公司在生產(chǎn)變壓器線圈時(shí)，需要將原始線圈通過一個(gè)放線裝置將線圈按照合理的速度放線，在這個(gè)過程中要求線圈速度既不能過快也不能過慢，過快會(huì)導(dǎo)致線圈打結(jié)無法順利切削，過慢會(huì)使線圈拉力增大，如何使線圈保持在一個(gè)合理的速度變化范圍之內(nèi)是本次設(shè)計(jì)所要解決的重點(diǎn)也是難點(diǎn)問題。 通過PLC裝置控制電機(jī)的轉(zhuǎn)速，從而獲得一個(gè)較穩(wěn)定的放線速度，同時(shí)對(duì)放線過快或者過慢能夠報(bào)警，從而調(diào)整電機(jī)轉(zhuǎn)速。學(xué)生在本次設(shè)計(jì)中要鍛煉查找資料和英文科技論文的翻譯能力；通過查閱一定數(shù)量的中英文資料和翻譯英文資料，了解與課題有關(guān)的國內(nèi)外研究動(dòng)向；學(xué)習(xí)動(dòng)手設(shè)計(jì)實(shí)現(xiàn)變壓器線圈放線裝置的設(shè)計(jì)以及如何利用PLC控制裝置來實(shí)現(xiàn)對(duì)電機(jī)轉(zhuǎn)速的控制；通過自學(xué)相關(guān)內(nèi)容，結(jié)合所學(xué)專業(yè)知識(shí)實(shí)現(xiàn)實(shí)際生產(chǎn)中的應(yīng)用，為以后繼續(xù)學(xué)習(xí)專業(yè)知識(shí)打下較好的基礎(chǔ)。學(xué)生應(yīng)注意多和老師、同學(xué)交流，培養(yǎng)團(tuán)隊(duì)精神，按時(shí)按質(zhì)按量完成各個(gè)設(shè)計(jì)階段的任務(wù)。四、課題所涉及主要參考資料1 吳宗澤機(jī)械設(shè)計(jì)教程M北京：機(jī)械工業(yè)出版社，20092楊伯源，李和平，劉一華.材料力學(xué)M.北京：機(jī)械工業(yè)出版社，20013鄭文緯，吳克堅(jiān)機(jī)械原理M.南京：東南大學(xué)機(jī)械學(xué)學(xué)科組，1997，4駱?biāo)鼐?，朱詩順機(jī)械課程設(shè)計(jì)簡(jiǎn)明手冊(cè)M.北京：化學(xué)工出版社，20115 吳宗澤機(jī)械零件設(shè)計(jì)手冊(cè)M.北京：機(jī)械工業(yè)出版社，20046賀哲榮，石帥軍，王志云.流行PLC實(shí)用程序及設(shè)計(jì)M.西安：西安電子科技大學(xué) 出版社，20067王庭有.可編程控制器原理M.北京：國防工業(yè)出版社，2008五、進(jìn)度安排周次工作內(nèi)容檢 查 方 式2013-2014(1)第10周第11周文獻(xiàn)檢索，寫出文獻(xiàn)綜述交文獻(xiàn)綜述第12周英文閱讀，翻譯2萬字符交翻譯第13周第14周方案構(gòu)思、比較、分析匯報(bào)所定方案第15周第16周調(diào)研交調(diào)研報(bào)告第17周第19周設(shè)計(jì)匯報(bào)設(shè)計(jì)過程2013-2014(2)第1周第3周編寫PLC程序檢查程序第4周第5周撰寫設(shè)計(jì)計(jì)算說明書匯報(bào)說明書撰寫思路、內(nèi)容第6周第7周設(shè)計(jì)資料整理、裝訂、答辯畢業(yè)答辯六、畢業(yè)設(shè)計(jì)（論文）時(shí)間 2013 年 11 月 4 日 2014 年 4 月 11 日七、本畢業(yè)設(shè)計(jì)（論文）必須完成的內(nèi)容1調(diào)查研究、查閱文獻(xiàn)和搜集資料。2閱讀和翻譯與課題內(nèi)容有關(guān)的外文資料（外文翻譯不能少于2萬印刷字符，約合5000漢字）。3撰寫文獻(xiàn)綜述，確定設(shè)計(jì)方案。4材料的選擇；計(jì)算機(jī)程序軟件等。5撰寫畢業(yè)設(shè)計(jì)說明書。八、備注本任務(wù)書一式三份，學(xué)院、教師、學(xué)生各執(zhí)一份。機(jī)械設(shè)計(jì)制造及其自動(dòng)化 系（教研室） 指導(dǎo)教師 系（教研室）主任 主管院長(zhǎng) 學(xué)號(hào)：10406329 常州大學(xué)畢業(yè)設(shè)計(jì)（論文）文獻(xiàn)綜述（2014屆）題 目 線圈放線機(jī)構(gòu)控制系統(tǒng)設(shè)計(jì) 學(xué) 生 王持濤 學(xué) 院 懷德學(xué)院 專 業(yè) 班 級(jí) 機(jī)制（懷）010 校內(nèi)指導(dǎo)教師 孫波 專業(yè)技術(shù)職務(wù) 講師 校外指導(dǎo)老師 專業(yè)技術(shù)職務(wù) 二一三年十一月常州大學(xué)本科生畢業(yè)設(shè)計(jì)（論文）文獻(xiàn)綜述題目：線圈放線機(jī)構(gòu)控制系統(tǒng)設(shè)計(jì)一、前言1課題研究的意義；國內(nèi)外研究現(xiàn)狀和發(fā)展趨勢(shì)1.1課題研究的意義 目前電源線的傳統(tǒng)捆扎一般都是完全靠手工操作，這種方式效率低、繞線質(zhì)量參差不齊、人力成木高，勞動(dòng)強(qiáng)度大。電源線繞線扎線機(jī)是一種電線繞線和捆扎機(jī)器，尤其是對(duì)各種電器的電源線進(jìn)行繞線和扎線，代替了傳統(tǒng)的人工繞線和捆扎。電源線繞線扎線控制系統(tǒng)采用PLC模塊、交流步進(jìn)控制系統(tǒng)和觸摸屏相結(jié)合的方式可使電控系統(tǒng)簡(jiǎn)潔緊湊，控制系統(tǒng)故障率低，軟硬件模塊維護(hù)方便，從而實(shí)現(xiàn)電源線繞扎的高程度自動(dòng)化，提高生產(chǎn)效率，降低生產(chǎn)成木，適合應(yīng)用于流水線進(jìn)行生產(chǎn)。 繞線機(jī)主要用于AC, DC電機(jī)，傳感器機(jī)芯等電器線圈的繞制，是電子工業(yè)中重要專用設(shè)備。隨著電子電器工業(yè)的迅速發(fā)展，線圈的需求量越來越大、品種越來越多、要求也越來越高。老式繞線機(jī)使用時(shí)存在匝數(shù)記數(shù)不清，繞制細(xì)微漆包線時(shí)無法整齊排線，繞線張力無法控制等問題，這些嚴(yán)重影響了繞線的質(zhì)量。本文旨在從繞線機(jī)的控制形式上改善繞線質(zhì)量，提高繞線機(jī)的可靠性。跟蹤自動(dòng)控制技術(shù)的發(fā)展趨勢(shì)，雙飛叉繞線機(jī)控制系統(tǒng)采用PLC:模塊、交流伺服控制系統(tǒng)和觸摸屏相結(jié)合的方式可使電控系統(tǒng)簡(jiǎn)潔緊湊，控制系統(tǒng)故障率低，軟、硬件模塊便于修改和維護(hù)，可大大提高生產(chǎn)率，實(shí)現(xiàn)全自動(dòng)流水線的監(jiān)控生產(chǎn)。繞線機(jī)作為電子工業(yè)專用設(shè)備之一，在我國已生產(chǎn)和使用了多年，改革開放以來，我國元器件廠也引進(jìn)了許多國外的繞線機(jī)常見的有平行繞線機(jī)、環(huán)行繞線機(jī)及各種特種繞線機(jī)等在繞制細(xì)微漆包線時(shí)，這些機(jī)器都會(huì)遇到共同的問題，如無法達(dá)到整齊排線，繞線張力無法控制等，特別是繞制0 lmm以下的一些音圈、傳感器機(jī)芯等線圈時(shí)，問題尤為突出。針對(duì)這種情況，我們研制了這種適用于細(xì)微漆包線的繞線機(jī)，很好地解決了這個(gè)問題，用它繞制的磁電式測(cè)振傳感器機(jī)芯線圈，張力穩(wěn)定，線圈直流電阻一致性好，排線整齊，外觀達(dá)到了“鏡面”效果。1.2國內(nèi)外研究現(xiàn)狀和發(fā)展趨勢(shì) 繞線機(jī)在電子電器行業(yè)運(yùn)用十分廣泛，它是將線狀的物體纏繞到特定的工件上的機(jī)器，例如在生產(chǎn)環(huán)形變壓器時(shí)，繞線機(jī)的任務(wù)就是將銅線繞制成線圈后套到變壓器的鐵芯柱上。目前市場(chǎng)上對(duì)繞線機(jī)的控制常見的有兩種，一種是由PLC控制，另一種是由單片機(jī)控制，本文采用的是由單片機(jī)控制繞線機(jī)這種方式，它可以實(shí)現(xiàn)繞線機(jī)工作狀態(tài)的自動(dòng)控制和精確控制，精確控制體現(xiàn)在精密排線和閉環(huán)反饋檢測(cè)系統(tǒng)，精密排線通過單片機(jī)發(fā)出CP脈沖和方向信號(hào)，準(zhǔn)確控制步進(jìn)電機(jī)的步進(jìn)和跳段等工作狀態(tài)來實(shí)現(xiàn)。閉環(huán)反饋檢測(cè)是將光電計(jì)數(shù)器測(cè)出電機(jī)轉(zhuǎn)速，發(fā)出計(jì)數(shù)脈沖送到單片機(jī)控制系統(tǒng)，再通過變頻器控制電機(jī)轉(zhuǎn)軸轉(zhuǎn)速。除此之外，單片機(jī)繞線機(jī)體積小、價(jià)格低、自動(dòng)化程度高、控制精確、能節(jié)省許多人力、物力、財(cái)力，能很好的滿足機(jī)電產(chǎn)品對(duì)繞組質(zhì)量的高要求，具有良好的推廣市場(chǎng)和廣闊的發(fā)展前景。 國內(nèi)立式繞線機(jī)技術(shù)處于起步階段，技術(shù)較為薄弱，品種也很少，主要用于繞制大型變壓器線圈，生產(chǎn)廠家主要有沈陽電工、西安啟源等，還沒有專門用于繞制大容量并聯(lián)空心電抗器的立式繞線機(jī)。2課題的研究目標(biāo)、內(nèi)容和擬解決的關(guān)鍵問題2.1課題的研究目標(biāo)、內(nèi)容 隨著生產(chǎn)自動(dòng)化和無人化以及批量化的發(fā)展，越來越多的生產(chǎn)環(huán)節(jié)使用自動(dòng)化機(jī)器操縱。本次課題是針對(duì)ABB公司在生產(chǎn)變壓器線圈時(shí)，需要將原始線圈通過一個(gè)放線裝置將線圈按照合理的速度放線，在這個(gè)過程中要求線圈速度既不能過快也不能過慢，過快會(huì)導(dǎo)致線圈打結(jié)無法順利切削，過慢會(huì)使線圈拉力增大，如何使線圈保持在一個(gè)合理的速度變化范圍之內(nèi)是本次設(shè)計(jì)所要解決的重點(diǎn)也是難點(diǎn)問題。 通過PLC裝置控制電機(jī)的轉(zhuǎn)速，從而獲得一個(gè)較穩(wěn)定的放線速度，同時(shí)對(duì)放線過快或者過慢能夠報(bào)警，從而調(diào)整電機(jī)轉(zhuǎn)速。2.2擬解決的關(guān)鍵問題 動(dòng)手設(shè)計(jì)實(shí)現(xiàn)變壓器線圈放線裝置的設(shè)計(jì)以及如何利用PLC控制裝置來實(shí)現(xiàn)對(duì)電機(jī)轉(zhuǎn)速的控制。二、設(shè)計(jì)方案的確定1方案的原理、特點(diǎn)與選擇依據(jù)1.1原理 繞線扎線系統(tǒng)包含繞線單元、取線單元、抓線單元、送扎帶單元，扭線單元，原理如圖1所示。首先根據(jù)需要在觸摸屏上設(shè)定好繞線的圈數(shù)、送扎帶長(zhǎng)度，左右行程的速度以及扭線的圈數(shù)，然后將線的一頭固定在繞線裝置上，啟動(dòng)開始按鈕，就可以全自動(dòng)完成完成電線的繞線和扎線。 工作過程為:繞線取線送扎帶送線扭扎帶結(jié)束。 開機(jī)啟動(dòng)后，繞線電機(jī)通過傳動(dòng)帶帶動(dòng)繞線盤，繞線完畢后;取線爪通過氣缸驅(qū)動(dòng)向卜運(yùn)行，取線爪合攏取線，取傳動(dòng)電機(jī)通過傳動(dòng)帶驅(qū)使兩個(gè)機(jī)械手移動(dòng)裝置向左移動(dòng)(兩個(gè)機(jī)械手移動(dòng)裝置是連動(dòng)的)，在兩個(gè)機(jī)械手移動(dòng)裝置在左移的過程中，送扎帶電機(jī)驅(qū)動(dòng)送扎帶滾輪轉(zhuǎn)動(dòng)，帶動(dòng)扎帶導(dǎo)輪向右出扎帶，到達(dá)規(guī)定扎帶長(zhǎng)度時(shí)，切扎帶刀動(dòng)作，規(guī)定長(zhǎng)的扎帶剛好送到抓線爪上面的橡皮條上。當(dāng)取線爪的機(jī)械手移動(dòng)裝置向左移動(dòng)到抓線爪的正上方時(shí)停卜來，取線爪通過氣缸驅(qū)動(dòng)向卜送線，抓線爪上的橡皮條受到繞好的線的壓力而向卜彎曲，橡皮條上的扎帶也彎曲，抓線爪合攏露出扎帶兩頭等待扭線夾扭扎帶(同時(shí)取線爪也張開)，然后氣缸驅(qū)動(dòng)取線爪向上回升。傳動(dòng)電機(jī)通過傳動(dòng)帶驅(qū)使兩個(gè)機(jī)械手移動(dòng)裝置向右移動(dòng)(兩個(gè)機(jī)械手移動(dòng)裝置是連動(dòng)的)。當(dāng)扭線夾的機(jī)械手移動(dòng)裝置向左移動(dòng)到抓線爪的正上方時(shí)停卜來(取線爪也正好在繞線盤的正上方停卜來，這時(shí)候如果又有繞線完畢的話，取線爪又可以向卜去取線進(jìn)行卜一次的扎線)，扭線夾通過氣缸驅(qū)動(dòng)向卜運(yùn)行;接著扭線夾夾緊扎帶，扭線電機(jī)驅(qū)動(dòng)扭線夾進(jìn)行扭扎帶，扭線夾扭完線后，抓線爪松開，扭線夾通過氣缸馬區(qū)動(dòng)向上回升。傳動(dòng)電機(jī)通過傳動(dòng)帶驅(qū)使兩個(gè)機(jī)械手移動(dòng)裝置向左移動(dòng)(兩個(gè)機(jī)械手移動(dòng)裝置是連動(dòng)的)，當(dāng)扭線夾的機(jī)械手移動(dòng)裝置向左移動(dòng)到最左邊時(shí)停卜來，扭線夾松開，完成扭線過程;同時(shí)取線爪的機(jī)械手移動(dòng)裝置也停在抓線爪的正上方，可以進(jìn)行卜一輪扭線，如果取線爪沒有取線，則整個(gè)過程結(jié)束，觸摸屏監(jiān)控繞線計(jì)數(shù)加1。1.2特點(diǎn) 該系統(tǒng)操作簡(jiǎn)單，運(yùn)行穩(wěn)定，自動(dòng)化程度，適合應(yīng)用于流水線進(jìn)行生產(chǎn)，應(yīng)用前景廣闊。1.3選擇依據(jù) 控制線圈放線速度v=0.7m/min左右。 針對(duì)電機(jī)轉(zhuǎn)速快慢選擇適當(dāng)?shù)膫鞲衅鳌? 設(shè)計(jì)步驟1、 明確設(shè)計(jì)任務(wù)，收集分析資料 認(rèn)真閱讀設(shè)計(jì)任務(wù)書，明確設(shè)計(jì)任務(wù)，查找收集有關(guān)資料，進(jìn)行認(rèn)真分析研究，了 解類似機(jī)器人底座的結(jié)構(gòu)和工作原理。2、 總體方案設(shè)計(jì) 參考有關(guān)資料，進(jìn)行方案設(shè)計(jì)。為了滿足以上要求，本設(shè)計(jì)采用二級(jí)減速裝置最終 實(shí)現(xiàn)一級(jí)輸出轉(zhuǎn)速為150r/min，二級(jí)輸出轉(zhuǎn)速為30r/min60r/min，為實(shí)現(xiàn)自動(dòng)計(jì)數(shù)功能 設(shè)計(jì)變速箱外掛掛輪結(jié)構(gòu)。 3、 技術(shù)設(shè)計(jì) 根據(jù)總體方案的結(jié)構(gòu)形式，進(jìn)行技術(shù)設(shè)計(jì)，進(jìn)行運(yùn)動(dòng)設(shè)計(jì)和動(dòng)力設(shè)計(jì)，選擇元件， 對(duì)主要零件進(jìn)行強(qiáng)度和剛度計(jì)算初步確定主要結(jié)構(gòu)尺寸。4、 圖紙?jiān)O(shè)計(jì) 根據(jù)總體設(shè)計(jì)方案和技術(shù)設(shè)計(jì)的結(jié)果，進(jìn)行圖紙?jiān)O(shè)計(jì)，按國家制圖標(biāo)準(zhǔn)完成圖紙?jiān)O(shè) 計(jì)。5、 編制技術(shù)文件 按規(guī)定要求，編制設(shè)計(jì)計(jì)算說明書，準(zhǔn)備畢業(yè)答辯。三、階段性設(shè)計(jì)計(jì)劃、設(shè)計(jì)目標(biāo)與應(yīng)用價(jià)值3.1設(shè)計(jì)計(jì)劃周次工作內(nèi)容檢 查 方 式2013-2014(1)第10周第11周文獻(xiàn)檢索，寫出文獻(xiàn)綜述交文獻(xiàn)綜述第12周英文閱讀，翻譯2萬字符交翻譯第13周第14周方案構(gòu)思、比較、分析匯報(bào)所定方案第15周第16周調(diào)研交調(diào)研報(bào)告第17周第19周設(shè)計(jì)匯報(bào)設(shè)計(jì)過程2013-2014(2)第1周第3周編寫PLC程序檢查程序第4周第5周撰寫設(shè)計(jì)計(jì)算說明書匯報(bào)說明書撰寫思路、內(nèi)容第6周第7周設(shè)計(jì)資料整理、裝訂、答辯畢業(yè)答辯3.2設(shè)計(jì)目標(biāo) 學(xué)生在本次設(shè)計(jì)中要鍛煉查找資料和英文科技論文的翻譯能力；通過查閱一定數(shù)量的中英文資料和翻譯英文資料，了解與課題有關(guān)的國內(nèi)外研究動(dòng)向；學(xué)習(xí)動(dòng)手設(shè)計(jì)實(shí)現(xiàn)變壓器線圈放線裝置的設(shè)計(jì)以及如何利用PLC控制裝置來實(shí)現(xiàn)對(duì)電機(jī)轉(zhuǎn)速的控制；通過自學(xué)相關(guān)內(nèi)容，結(jié)合所學(xué)專業(yè)知識(shí)實(shí)現(xiàn)實(shí)際生產(chǎn)中的應(yīng)用，為以后繼續(xù)學(xué)習(xí)專業(yè)知識(shí)打下較好的基礎(chǔ)。3.3應(yīng)用價(jià)值 電源線繞線扎線機(jī)以PLC為控制核心，利用觸摸屏提供友好的人機(jī)界面，采用步進(jìn)電機(jī)進(jìn)行繞線，送扎帶，扭線以及左右行程運(yùn)動(dòng)，由于安裝調(diào)試方便，現(xiàn)場(chǎng)操作操作簡(jiǎn)化，人機(jī)界面靈活，使系統(tǒng)更加安全可靠。木繞線機(jī)具有繞線速度快、工效高、繞圈準(zhǔn)確，操作簡(jiǎn)單等優(yōu)點(diǎn)，又降低了工人勞動(dòng)強(qiáng)度，提高了生產(chǎn)效率，不管普通的電源線還是復(fù)雜的電源線，都可以保持600條/小時(shí)之上，一個(gè)熟練的員工可以達(dá)到800條 /小時(shí)左右，這樣既可節(jié)省人工，也可以大大提升企業(yè)的競(jìng)爭(zhēng)力。四、參考文獻(xiàn)1 吳宗澤機(jī)械設(shè)計(jì)教程M北京：機(jī)械工業(yè)出版社，20092鄭文緯，吳克堅(jiān)機(jī)械原理M.南京：東南大學(xué)機(jī)械學(xué)學(xué)科組，1997，3駱?biāo)鼐?，朱詩順機(jī)械課程設(shè)計(jì)簡(jiǎn)明手冊(cè)M.北京：化學(xué)工出版社，20115 吳宗澤機(jī)械零件設(shè)計(jì)手冊(cè)M.北京：機(jī)械工業(yè)出版社，20046賀哲榮，石帥軍，王志云.流行PLC實(shí)用程序及設(shè)計(jì)M.西安：西安電子科技大學(xué) 出版社，20067 何立民.M CS-51系列單片機(jī)應(yīng)用系統(tǒng)設(shè)計(jì).北京:北京航空航天大學(xué)出版社，1990.8 張承根.解剖國產(chǎn)變壓器專用設(shè)備【J.機(jī)電新產(chǎn)品導(dǎo)報(bào)2002,9 于海年，薛守謙.變壓器制造專用設(shè)備網(wǎng).北京:治金工業(yè)出版社，10 付家才.單片機(jī)控制工程實(shí)踐技術(shù)MI.北京:化學(xué)工業(yè)出版社，2004.11 梅麗鳳，王艷秋，汪毓鐸，等.單片機(jī)原理及接口技術(shù)MI.北京:清華大學(xué)出版社，2004.12 陳迎國.自動(dòng)繞線機(jī)的設(shè)計(jì)與實(shí)現(xiàn)DI.西安:西北工業(yè)大學(xué)，2004.五、指導(dǎo)教師審閱意見 簽名 年 月 日（注：學(xué)生可根據(jù)文獻(xiàn)綜述的內(nèi)容相應(yīng)擴(kuò)充本表各項(xiàng)的大小）第 7 頁 共 9 頁關(guān)節(jié)轉(zhuǎn)矩降低三維冗余的平面機(jī)械手1.研究中心在吉隆坡50603馬來西亞大學(xué)應(yīng)用電子科，馬來西亞;電子郵件:mahmoudum.edu.my。2.電氣和計(jì)算機(jī)工程學(xué)院,德黑蘭大學(xué),郵政信箱14399 - 57131。3.電氣與電子工程系：馬來西亞諾丁漢大學(xué),道路Broga,Semenyih43500；馬來西亞;電子郵件:haider.abbasnottingham.edu.my。摘要 研究機(jī)器人機(jī)械手關(guān)節(jié)力矩的還原已經(jīng)受到近年來相當(dāng)多的關(guān)注。其可以減少計(jì)算復(fù)雜度的扭矩，優(yōu)化計(jì)算能力的大小使關(guān)節(jié)力矩準(zhǔn)確地將結(jié)果體現(xiàn)在在一個(gè)安全的操作,沒有超載的聯(lián)合執(zhí)行機(jī)構(gòu)。本文提出：機(jī)械設(shè)計(jì)的三維平面冗余機(jī)械手，利用數(shù)目的減少確定需要控制關(guān)節(jié)角，領(lǐng)先在機(jī)械手的重量的減少。 許多的努力都集中在減少機(jī)械手的重量,如使用輕量級(jí)關(guān)節(jié)設(shè)計(jì)或設(shè)置執(zhí)行器在機(jī)械手的基礎(chǔ)和使用肌腱的動(dòng)力傳遞到這些關(guān)節(jié)。通過本文的設(shè)計(jì)，只有三個(gè)電動(dòng)機(jī)需要控制任何n度自由在一個(gè)三維平面冗余機(jī)械手臂代替n電機(jī)自由。因此，這個(gè)設(shè)計(jì)是為了減少機(jī)器人的重量以及一些非常有效的需要控制的機(jī)械手電機(jī)。在本文中，所有的關(guān)節(jié)力矩提出了計(jì)算該機(jī)械手（三個(gè)馬達(dá)）和傳統(tǒng)的三維平面機(jī)械手（有一個(gè)電機(jī)，每個(gè)自由度）來顯示，機(jī)械手的有效性提出減少的重量和機(jī)械手驅(qū)動(dòng)關(guān)節(jié)磨損最小化。關(guān)鍵詞：冗余機(jī)械手;動(dòng)力學(xué);機(jī)器人;旋轉(zhuǎn)編碼器;減少關(guān)節(jié)磨損 1 介紹從理論上講，對(duì)于一個(gè)機(jī)器人機(jī)械手的結(jié)構(gòu)可以安裝在每個(gè)環(huán)節(jié)通過減速器驅(qū)動(dòng)下一個(gè)鏈接，但執(zhí)行機(jī)構(gòu)和減速器安裝在末端成為負(fù)載執(zhí)行機(jī)構(gòu)安裝在近端結(jié)束的機(jī)械手,導(dǎo)致一個(gè)笨重的超重系統(tǒng)1。為了減輕重量和機(jī)器人慣性，到目前為止，機(jī)制已經(jīng)提出去除重量的限制。一些報(bào)道2，3包括：（一）輕量級(jí)聯(lián)合設(shè)計(jì)基于一個(gè)特殊的旋轉(zhuǎn)接頭(4 - 6) （二）在一個(gè)滑塊底部承受盡可能多的所需驅(qū)動(dòng)力7 （三）并行機(jī)制是另一種方法來減少質(zhì)量和慣性的機(jī)械手8 一個(gè)典型的機(jī)并聯(lián)械手是由一個(gè)移動(dòng)平臺(tái)與固定座連接，一般說,自由度的數(shù)目與并聯(lián)機(jī)械手的四肢的數(shù)量相等。該驅(qū)動(dòng)器通常是安裝在基地附近,這有助于減少機(jī)器人的慣性。 （四）濃度的致動(dòng)器在每個(gè)接頭的基礎(chǔ)和動(dòng)力傳輸通過肌鍵的一個(gè)特殊的傳動(dòng)機(jī)構(gòu)2、3、9。這種機(jī)制允許執(zhí)行機(jī)構(gòu)是位于遠(yuǎn)程操作器上的基地,使機(jī)械手做的更輕和緊湊。對(duì)于一系列機(jī)械手,直接運(yùn)動(dòng)學(xué)是相當(dāng)簡(jiǎn)單的,而逆運(yùn)動(dòng)學(xué)變得非常困難。參考10提出了一種融合智能傳感器網(wǎng)絡(luò)估計(jì)了工業(yè)機(jī)器人運(yùn)動(dòng)學(xué),同時(shí)參考11措施范圍的數(shù)據(jù)關(guān)于機(jī)器人基礎(chǔ)構(gòu)架使用機(jī)器人正運(yùn)動(dòng)學(xué)和光學(xué)三角測(cè)量原理。逆運(yùn)動(dòng)學(xué)問題是更有趣的是和它的解決方案是更有用的,但是遇到的問題之一逆運(yùn)動(dòng)學(xué)是當(dāng)機(jī)械手是冗余的,預(yù)計(jì)的逆運(yùn)動(dòng)學(xué)有無窮多組解。這意味著,對(duì)于一個(gè)給定位置的機(jī)械手的端部執(zhí)行器,就有可能誘發(fā)一個(gè)自動(dòng)的結(jié)構(gòu)而不改變位置的端部執(zhí)行器。在本文中,我們依靠我們現(xiàn)有的作品12,13,提出一個(gè)新的方法來解決三元的平面冗余機(jī)械手臂的多解問題。由于本文闡述了機(jī)械手的動(dòng)態(tài)而不是他的運(yùn)動(dòng)學(xué)，逆運(yùn)動(dòng)學(xué)方法將無法解釋這里。關(guān)于逆運(yùn)動(dòng)學(xué)冗余機(jī)械手的更多細(xì)節(jié),我們的作品14可以檢查。這是前面提到的,該機(jī)械手可以用來減少的重量，機(jī)械手收益率下降用于控制機(jī)械手的電機(jī)。在降低動(dòng)電動(dòng)機(jī)的反力矩上顯示了該機(jī)械手的有效性，對(duì)動(dòng)態(tài)的機(jī)械手進(jìn)行了數(shù)學(xué)計(jì)算。逆動(dòng)態(tài)模型提供了在術(shù)語的關(guān)節(jié)磨損的關(guān)節(jié)位置、速度和加速度。為機(jī)器人設(shè)計(jì),逆動(dòng)態(tài)模型是用來計(jì)算執(zhí)行機(jī)構(gòu)的扭矩,以獲得所需的運(yùn)動(dòng)17。幾種方法已經(jīng)提出的動(dòng)力學(xué)模型。最常用于機(jī)器人的拉格朗日公式和牛頓歐拉公式。由于拉格朗日公式在概念上很簡(jiǎn)單,系統(tǒng)18,它被用在這里。拉格朗日公式提供了一個(gè)描述聯(lián)合執(zhí)行機(jī)構(gòu)之間的關(guān)系力量和運(yùn)動(dòng)的機(jī)制,在系統(tǒng)里從根本上操作動(dòng)能和勢(shì)能。本文的工作是基于先前的工作14,呈現(xiàn)了一個(gè)機(jī)械設(shè)計(jì)一個(gè)三維平面冗余機(jī)械手,保證減少重量的機(jī)械手通過減少需要控制汽車的數(shù)量的機(jī)械手。因?yàn)槟孢\(yùn)動(dòng)學(xué)模型提供了一個(gè)無限數(shù)量的解決方案為冗余機(jī)械手,因此,二次性能標(biāo)準(zhǔn)可以優(yōu)化17,如避免奇異構(gòu)型和最小化驅(qū)動(dòng)關(guān)節(jié)力矩。參考14研究了本文的機(jī)械手運(yùn)動(dòng)學(xué)和顯示在細(xì)節(jié)能夠避免奇異的配置能力?？刹倏v性指數(shù)數(shù)值和可操縱性橢圓體的機(jī)械手是由索引值的可操縱性和彪馬的可操縱性橢圓體手臂顯示使用的有效性提出了機(jī)械手,以避免奇異機(jī)械手。在本文中,對(duì)機(jī)械手的動(dòng)力學(xué),進(jìn)行了詳細(xì)解釋。這個(gè)工作的貢獻(xiàn)是解釋該機(jī)械手的關(guān)節(jié)力矩極小化的能力。研究了該鏈接和電機(jī)的質(zhì)量分布(三個(gè)馬達(dá))和傳統(tǒng)的機(jī)械手(汽車)。驅(qū)動(dòng)關(guān)節(jié)磨損研究提出的機(jī)械手各關(guān)節(jié)和結(jié)果，與傳統(tǒng)的機(jī)械手結(jié)果比較表明該機(jī)械手的有效性的最小化為驅(qū)動(dòng)關(guān)節(jié)磨損。2 機(jī)械手的機(jī)械設(shè)計(jì)控制運(yùn)動(dòng)圖1顯示的機(jī)械手的末端執(zhí)行器的運(yùn)動(dòng)（一）,所有的汽車機(jī)械手應(yīng)受控制。例如,控制五個(gè)環(huán)節(jié)平面冗余機(jī)械手能夠旋轉(zhuǎn)整個(gè)機(jī)械手在其垂直軸的能力,六個(gè)馬達(dá)(五發(fā)動(dòng)機(jī)各關(guān)節(jié)角和一個(gè)電動(dòng)機(jī)旋轉(zhuǎn)整個(gè)機(jī)械手在其垂直軸)應(yīng)該控制的機(jī)械手。使用該方法的論文12,13,配置的機(jī)械手將有三個(gè)角度控制代替n角度。圖1(b)顯示了配置機(jī)械手在只有三個(gè)角度時(shí),需要控制。因?yàn)槟┒丝梢宰裱魏蜗胍穆窂酵ㄟ^控制三個(gè)角度(1,2和3),因此,不使用電動(dòng)機(jī)為每個(gè)關(guān)節(jié)角,三個(gè)汽車可以用于的控制機(jī)械手。這意味著對(duì)于任何數(shù)量的自由度三維平面冗余的權(quán)重,鏈接的重量將會(huì)明顯降低使用提出的設(shè)計(jì)。讓能夠移動(dòng)的機(jī)械手在三維工作空間,一個(gè)馬達(dá)控制的價(jià)值的意味著控制整個(gè)機(jī)械手的旋轉(zhuǎn)圍繞垂直軸。這個(gè)電機(jī)坐落在這樣旋轉(zhuǎn)底部的機(jī)械手在z軸 。第二個(gè)電動(dòng)機(jī)控制2的值,這意味著整個(gè)機(jī)械手的旋轉(zhuǎn)與它的配置。這個(gè)電動(dòng)機(jī)位于該基地。第三個(gè)電動(dòng)機(jī)控制3的價(jià)值,這種電動(dòng)機(jī)位于第一個(gè)鏈接。 這種電動(dòng)機(jī)將旋轉(zhuǎn)臂的第二個(gè)鏈接關(guān)于第二軸,因?yàn)樗械南乱粋€(gè)鏈接應(yīng)該對(duì)他們的軸旋轉(zhuǎn)相同的角3。因此,沒有必要使用電動(dòng)機(jī)為每個(gè)關(guān)節(jié)角,但第二電機(jī)的旋轉(zhuǎn)將被轉(zhuǎn)移到下一個(gè)關(guān)節(jié)使用齒輪箱。圖2顯示了該機(jī)械手的機(jī)構(gòu)。圖1 (一)三維平面冗余機(jī)械手配置;(b)三維平面冗余機(jī)械手配置使用方法12,13。 圖2 用于實(shí)驗(yàn)的機(jī)械手14。草案操縱者利用SolidWorks軟件(左)。機(jī)械設(shè)計(jì)的機(jī)械手(右)。 進(jìn)一步闡述,第二馬達(dá)連接到第一個(gè)鏈接使用一個(gè)蝸輪控制角2。圖3顯示了第二電動(dòng)機(jī)的位置。 圖3 第二個(gè)關(guān)節(jié)角的設(shè)計(jì)(第一個(gè)鏈接與第二電動(dòng)機(jī))14。利用SolidWorks軟件的二關(guān)節(jié)節(jié)角草案(左)。第二個(gè)關(guān)節(jié)角的機(jī)械設(shè)計(jì)(右)。第三個(gè)馬達(dá)連接到第二個(gè)鏈接使用一個(gè)蝸輪因?yàn)橥瑯拥脑蚴鞘褂玫谝粋€(gè)鏈接。 控制第三汽車意味著控制角之間的第一個(gè)和第二個(gè)鏈接即鏈接。,3角度。圖4顯示了第三電動(dòng)機(jī)的位置。 圖4 第三關(guān)節(jié)角機(jī)械手的設(shè)計(jì)(第二個(gè)鏈接與第三電動(dòng)機(jī))14。草案第三關(guān)節(jié)角利用SolidWorks軟件(左上角)。利用SolidWorks軟件對(duì)整個(gè)機(jī)械手的草案(右上)。第三個(gè)關(guān)節(jié)角度的機(jī)械設(shè)計(jì)(底部)。 第三連桿的機(jī)構(gòu)，如圖5所示。相同的機(jī)制的第二個(gè)鏈接使用;唯一的區(qū)別是,而不是使用年代蠕蟲作為驅(qū)動(dòng)的齒輪為驅(qū)動(dòng),使用兩個(gè)錐齒輪。第三連桿的相同機(jī)制可用于下一個(gè)鏈接。最后的鏈接有機(jī)制如圖6所示。為進(jìn)一步的細(xì)節(jié)的機(jī)械設(shè)計(jì)的機(jī)械手,我們參考14可以檢查。 圖5 第四關(guān)節(jié)的角度設(shè)計(jì)（第三個(gè)鏈接）的機(jī)械手14。草案第四關(guān)節(jié)角利用SolidWorks軟件(左上角) 。草案整個(gè)機(jī)械手利用SolidWorks軟件(右上)。機(jī)械設(shè)計(jì)的第四關(guān)節(jié)角(底部)。圖6 機(jī)械手的上接頭。 確保所有的鏈接而運(yùn)動(dòng)的關(guān)節(jié)角,錐齒輪之間的比例每個(gè)行星齒輪應(yīng)該等于一。這意味著錐齒輪的每個(gè)行星齒輪應(yīng)該有相同的直徑和數(shù)量的牙齒。如果這手臂是固定的,我們得到: (1)在威斯康星州齒輪角速度和Nis齒輪的齒數(shù)。在我們的機(jī)械手,它是指出,第一個(gè)齒輪是固定而另一個(gè)齒輪和旋轉(zhuǎn)臂。它是理想的,手臂和第二齒輪具有相同的角速度。因?yàn)槭直鄄皇庆o止不動(dòng)的,然后我們不能使用前面的方程。即。機(jī)制不是一個(gè)ordinarygear火車,但行星齒輪火車。把這個(gè)行星輪系普通齒輪系,假設(shè): (2) (3)因?yàn)榈诙€(gè)齒輪將繼續(xù)與相同的角速度旋轉(zhuǎn),然后: (4)現(xiàn)在,方程(1)可以改寫如下:為我們的機(jī)械手需要移動(dòng)胳膊和第二齒輪同樣的角速度w這意味著:使機(jī)械手能夠在一個(gè)三維工作空間時(shí),電動(dòng)機(jī)添加到機(jī)械手的基礎(chǔ),使整個(gè)機(jī)械手對(duì)周圍旋轉(zhuǎn)z軸。該電動(dòng)機(jī)控制1。圖7顯示了第一個(gè)電動(dòng)機(jī)的機(jī)制。圖7。第一個(gè)運(yùn)動(dòng)的機(jī)制。變換矩陣的計(jì)算機(jī)械手,機(jī)械手的草案中所示圖8中,使用。相應(yīng)的鏈接參數(shù)顯示機(jī)械手inTable 1。l1,l2,l5are鏈接的長(zhǎng)度,而d1is起源和效應(yīng)器之間的偏移量。 圖8。在實(shí)驗(yàn)中使用的操縱者。表1。機(jī)械手的鏈接參數(shù)。從鏈接參數(shù)表1所示,用方程(7)定義轉(zhuǎn)換矩陣Tfor鏈接1,我們計(jì)算每個(gè)鏈接的個(gè)人轉(zhuǎn)換:在哪里最后我們獲得所有六個(gè)鏈接的產(chǎn)品轉(zhuǎn)換:3。機(jī)械手的動(dòng)力學(xué)在本節(jié)中,計(jì)算每個(gè)關(guān)節(jié)的力矩。顯示建議的有效性操縱者,聯(lián)合扭矩計(jì)算使用該機(jī)械手(僅使用三個(gè)汽車)和傳統(tǒng)的操縱者(每個(gè)關(guān)節(jié)的運(yùn)動(dòng))。讓我們假設(shè),具體每個(gè)鏈接的重心是在其幾何中心。為機(jī)械手用于我們的實(shí)驗(yàn)中,鏈接的質(zhì)量沒有汽車一樣:ml1中引入= 760通用,ml2 = 720通用、ml3開始= 680通用汽車、通用ml4 = 640,最后ml5 = 600通用,這些質(zhì)量計(jì)算機(jī)械手withl1 = 19厘米,l2 = 18厘米,l3 = 17厘米,l4 = 16厘米,l5 = 15厘米和d2 = 21厘米。每個(gè)電機(jī)的質(zhì)量1500通用;機(jī)械手的設(shè)計(jì),第一個(gè)電機(jī)和第二電機(jī)王河的基礎(chǔ),而不是自己的鏈接。因此,對(duì)于我們的機(jī)械手,第一個(gè)鏈接的質(zhì)量將等于該鏈接的質(zhì)量(760通用)plusthe電動(dòng)機(jī)的質(zhì)量通用汽車(1500)控制下一個(gè)鏈接。因?yàn)闆]有更多的汽車,鏈接的質(zhì)量將會(huì)是:m1 = 2260通用、m2 = 720通用,m3 = 680通用、m4 = 640通用汽車、通用汽車和m5 = 600。圖9(一個(gè))顯示質(zhì)量每個(gè)鏈接的電動(dòng)機(jī)的機(jī)械手的設(shè)計(jì)。 圖9。大規(guī)模的位置(a)擬議中的機(jī)械手;(b)傳統(tǒng)的機(jī)械手。傳統(tǒng)的三維平面機(jī)械手為每個(gè)鏈接)(一個(gè)電動(dòng)機(jī),的質(zhì)量第一個(gè)鏈接將等于鏈接本身的質(zhì)量以及電動(dòng)機(jī)的質(zhì)量控制第二個(gè)鏈接位置,即。760 + 1500通用。第二個(gè)鏈接的質(zhì)量等于鏈接本身的質(zhì)量加上電動(dòng)機(jī)的質(zhì)量控制第三鏈接的位置,即720 + 1500通用。第三個(gè)鏈接的質(zhì)量將等于第三個(gè)鏈接的質(zhì)量以及電動(dòng)機(jī)的質(zhì)量控制第四個(gè)鏈接的位置,也就是說,680 + 1500通用。第四個(gè)鏈接的質(zhì)量等于質(zhì)量的第四個(gè)鏈接的質(zhì)量電機(jī)控制第五鏈接的位置,即。640 + 1500通用,而去年鏈接的質(zhì)量鏈接的質(zhì)量相當(dāng)于itselfbecause沒有更多的汽車,即。600通用。圖9(b)顯示了每個(gè)鏈接的質(zhì)量與五個(gè)汽車使用機(jī)械手,在表2顯示的質(zhì)量的價(jià)值鏈接使用機(jī)械手與5個(gè)鏈接兩個(gè)馬達(dá)和操縱者。表2。鏈接的質(zhì)量提出了和傳統(tǒng)的操縱者。很明顯指出該方法可以用來減少機(jī)械手的重量。減少的重量會(huì)導(dǎo)致減少每個(gè)鏈接的扭矩。下一節(jié)將展示結(jié)果時(shí)各關(guān)節(jié)力矩的end-effectoris后所需的路徑。使用拉格朗日制定、機(jī)械手的動(dòng)力學(xué)運(yùn)動(dòng)方程是從i=1，26.這個(gè)方程的第一任期的慣性力量,第二部分代表科里奧利和離心力,第三個(gè)術(shù)語給出了引力作用1、20、21。動(dòng)力學(xué)方程的討論了機(jī)械手indetails附錄。如圖所示的動(dòng)力學(xué)方程,增加weightof汽車會(huì)增加所需的扭矩控制機(jī)械手。為了降低汽車重量的慣性的影響使用機(jī)械手,并聯(lián)機(jī)構(gòu),如前所述。例如在參考22并聯(lián)機(jī)械手是由三個(gè)的伺服馬達(dá)驅(qū)動(dòng),這有助于減少位于基地操縱者的慣性。文獻(xiàn)23顯示另一種減少汽車的影響慣性權(quán)重的操縱者。這個(gè)引用顯示了一個(gè)簡(jiǎn)單的配置設(shè)計(jì),這種設(shè)計(jì)只有三個(gè)關(guān)節(jié)包括:兩個(gè)肩膀和一個(gè)手。在本設(shè)計(jì)的時(shí)刻慣性的手臂是恒定的,獨(dú)立于關(guān)節(jié)角度。為我們的機(jī)械手相比,我們從方程A21-A25轉(zhuǎn)動(dòng)慣量值依賴于關(guān)節(jié)角度。4。仿真結(jié)果本節(jié)顯示了該機(jī)械手使用有效性時(shí)需要使用效應(yīng)器遵循所需的路徑。這部分有兩個(gè)例子。第一個(gè)例子計(jì)算扭矩使用機(jī)械手(提出一個(gè)和傳統(tǒng)三維平面機(jī)械手),展示了如何有效的提議的機(jī)械手是在減少的轉(zhuǎn)矩每個(gè)接頭需要移動(dòng)機(jī)械手。來驗(yàn)證它們之間的估計(jì)結(jié)果和比較,結(jié)果從機(jī)械手本身,第二個(gè)示例所示。這個(gè)例子顯示結(jié)果如果扭矩使用:(1)傳統(tǒng)的三維平面機(jī)械手定義所需的關(guān)節(jié)角度路徑,(2)擬議中的manipulatorwith聯(lián)合角度定義所需的路徑最后(3)該機(jī)械手的關(guān)節(jié)角度測(cè)量路徑時(shí)關(guān)節(jié)角度遵循所需的關(guān)節(jié)角度的道路。案例一:計(jì)算各關(guān)節(jié)的力矩的操縱者顯示使用的有效性該機(jī)械手減少扭矩情況聯(lián)合。使用相同的操縱者l =1517日,19日,18日16日t和d2 = 21,長(zhǎng)度都是厘米,聯(lián)合角度路徑定義為:應(yīng)該記住,當(dāng)使用擬議的操縱者,3,456are平等。顯示的有效性提出了機(jī)械手在轉(zhuǎn)矩下降,圖10中顯示的值扭矩的第一個(gè)聯(lián)合使用機(jī)械手,該機(jī)械手(三個(gè)馬達(dá))和6汽車的操縱。圖10。扭矩的值的第一個(gè)聯(lián)合使用兩個(gè)機(jī)械手。圖11顯示了扭矩的值第二聯(lián)合使用機(jī)械手。 圖11。第二關(guān)節(jié)力矩的值使用機(jī)械手。圖12顯示了absolutevalues第三關(guān)節(jié)的力矩,圖13顯示了絕對(duì)值的扭矩第四聯(lián)合使用兩個(gè)機(jī)械手。圖12。第三關(guān)節(jié)力矩的值使用機(jī)械手。圖13。第四關(guān)節(jié)力矩的值使用機(jī)械手。 圖14顯示了第五聯(lián)合最后的扭矩的扭矩圖15顯示了第六的聯(lián)合使用兩臂角度。 圖14。第五個(gè)關(guān)節(jié)力矩的值使用機(jī)械手。圖15。扭矩的值第六的聯(lián)合使用兩個(gè)操縱者。首先,它是指出,第六接頭的轉(zhuǎn)矩相同的值使用機(jī)械手因?yàn)榈诹溄酉嗤馁|(zhì)量的操縱者,換句話說第六的質(zhì)量鏈接只等于鏈接本身的質(zhì)量,因?yàn)樗粨碛腥魏伟l(fā)動(dòng)機(jī)。其次,該機(jī)械手如前所述,第三電動(dòng)機(jī)應(yīng)平衡轉(zhuǎn)矩的第三,第四,第五,第六。換句話說,第三電動(dòng)機(jī)的轉(zhuǎn)矩等于(T3 + T4 + T5 + T6)擬議的操縱者。圖16顯示了第三個(gè)電動(dòng)機(jī)的功率應(yīng)該平衡的操縱者。從這個(gè)例子中,使用指出機(jī)械手不僅減少汽車的數(shù)量用于機(jī)械手,但alsodecreases力矩馬達(dá)的控制它。圖16。第三電機(jī)扭矩的值使用機(jī)械手。案例二:應(yīng)用于機(jī)器人的軌跡在驗(yàn)證實(shí)驗(yàn)中在本例中是: 圖17顯示了估計(jì)(白色),測(cè)量(紅色)角度,角速度,角面定義的第一關(guān)節(jié)角加速度。圖18顯示了估計(jì)(白色)和測(cè)量(紅色)角度、角速度和角加速度的第二關(guān)節(jié)角。圖18。估計(jì)的值和測(cè)量角位置,速度和第二關(guān)節(jié)角加速度(白:估計(jì),紅色:測(cè)量)。圖19顯示了估計(jì)(白色)和測(cè)量(紅色)角度,角速度和角第三關(guān)節(jié)角加速度的操縱者。它應(yīng)該記住再次使用提出了機(jī)械手、34、56are等于。圖19。估計(jì)的值和測(cè)量角位置,速度和第三關(guān)節(jié)角加速度(白:估計(jì),紅色:測(cè)量)。圖20 - 25顯示各關(guān)節(jié)角的轉(zhuǎn)矩之間的比較:(1)的傳統(tǒng)三維平面機(jī)械手使用估計(jì)的聯(lián)合角度路徑;(2)擬議的操縱者使用估計(jì)的聯(lián)合角度路徑;最后使用測(cè)量(3)擬議的操縱者角位置、速度和加速度的機(jī)械手關(guān)節(jié)。 圖20。第一個(gè)關(guān)節(jié)角的轉(zhuǎn)矩。圖21。第二個(gè)關(guān)節(jié)角的轉(zhuǎn)矩。圖22。第三關(guān)節(jié)角的轉(zhuǎn)矩。圖23。第四關(guān)節(jié)角的轉(zhuǎn)矩。圖24。第五個(gè)關(guān)節(jié)角的轉(zhuǎn)矩。 圖25。第六個(gè)關(guān)節(jié)角的轉(zhuǎn)矩。 圖26。第三個(gè)電動(dòng)機(jī)的轉(zhuǎn)矩。驗(yàn)證實(shí)驗(yàn)的結(jié)果表明,有一個(gè)很好的協(xié)議聯(lián)合角度提出的轉(zhuǎn)矩估計(jì)機(jī)械手使用聯(lián)合角度路徑(綠色)和關(guān)節(jié)角度測(cè)量路徑(紅色)。這些數(shù)據(jù)顯示,該機(jī)械手的有效性減少了轉(zhuǎn)矩的使用提出了機(jī)械手關(guān)節(jié)角度。這些數(shù)據(jù)顯示,該機(jī)械手的有效性減少了轉(zhuǎn)矩的使用提出了機(jī)械手關(guān)節(jié)角度。圖26顯示,盡管這種電動(dòng)機(jī)(第三電動(dòng)機(jī))應(yīng)該平衡四個(gè)鏈接的扭矩,這種電動(dòng)機(jī)可以較小的大小(少)提出了機(jī)械手比第三電動(dòng)機(jī)傳統(tǒng)的三維平面機(jī)械手。5。結(jié)論摘要提出了一種三維平面冗余機(jī)械手的機(jī)械設(shè)計(jì)。從理論上講,每個(gè)自由度應(yīng)該有一個(gè)電動(dòng)機(jī)。然而,在這個(gè)設(shè)計(jì)只有三個(gè)汽車需要控制任何ndegrees自由三維平面冗余機(jī)械手。因此,這種設(shè)計(jì)可以用來減少manipulatorsignificantly的重量。設(shè)計(jì)該機(jī)械手的步驟是詳細(xì)解釋。動(dòng)力學(xué)方程的計(jì)算提出和傳統(tǒng)的三維平面機(jī)械手(nmotors)和從結(jié)果,得出結(jié)論,盡管該機(jī)械手lessmotors,這些汽車可能更小(指的是電源)比汽車使用與常規(guī)三維平面機(jī)械手。Sensors 2012 12 6869 6892 doi 10 3390 s120606869 sensors ISSN 1424 8220 Article Joint Torque Reduction of a Three Dimensional Redundant Planar Manipulator Samer Yahya 1 Mahmoud Moghavvemi 1 2 and Haider Abbas F Almurib 3 1 Center of Research in Applied Electronics CRAE University of Malaya Kuala Lumpur 50603 Malaysia E Mail mahmoud um edu my 2 Faculty of Electrical and Computer Engineering University of Tehran P O Box 14399 57131 Tehran Iran 3 Department of Electrical E Mail haider abbas nottingham edu my Author to whom correspondence should be addressed E Mail smryahya Tel 60 172 841 560 Received 1 April 2012 in revised form 2 May 2012 Accepted 22 May 2012 Published 25 May 2012 Abstract Research on joint torque reduction in robot manipulators has received considerable attention in recent years Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle leading to a decrease in the weight of the manipulator Many efforts have been focused on decreasing the weight of manipulators such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints By using the design of this paper only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator In this paper the torque of all the joints are calculated for the proposed manipulator with three motors and the conventional three dimensional planar manipulator with one motor for each degree of freedom to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques OPEN ACCESS Sensors 2012 12 6870 Keywords redundant manipulator dynamics robot rotary encoders joint torques reduction 1 Introduction Theoretically for a structure of the robot manipulator one actuator can be mounted on each link to drive the next link via a speed reduction unit but actuators and speed reducers installed on the distal end become the load for actuators installed on the proximal end of a manipulator resulting in a bulky and heavy system 1 To reduce the weight and the inertia of a robot manipulator many mechanisms have been proposed so far to remove the weight restriction Some reported by 2 3 include a Lightweight joint design based on a special rotary joint 4 6 b Provision of a powerful slider at the base to bear as much required driving force as possible 7 c The parallel mechanism is another method to reduce the mass and inertia of the manipulator 8 A typical parallel manipulator consists of a moving platform that is connected with a fixed base by several limbs Generally the number of degrees of freedom of a parallel manipulator is equal to the number of its limbs The actuators are usually mounted on or near the base which contributes to reduce the inertia of manipulators and d Concentration of the actuators at the base and transmission of the power to each joint through tendons or a special transmission mechanism 2 3 9 This mechanism allows the actuators to be situated remotely on the manipulator base allowing the manipulator to be made more lightweight and compact For a serial manipulator direct kinematics are fairly straightforward whereas inverse kinematics becomes very difficult Reference 10 proposes a fused smart sensor network to estimate the forward kinematics of an industrial robot while reference 11 measures the range data with respect to the robot base frame using the robot forward kinematics and the optical triangulation principle The inverse kinematics problem is much more interesting and its solution is more useful but one of the difficulties of inverse kinematics is that when a manipulator is redundant it is anticipated that the inverse kinematics has an infinite number of solutions This implies that for a given location of the manipulator s end effector it is possible to induce a self motion of the structure without changing the location of the end effector In this paper we depend on our prior works 12 13 which present a new method to solve the problem of multi solutions of a three dimensinal planar redundant manipulator Because this paper explains the dynamic of the manipulator and not its kinematics the inverse kinematics methods will not be explained here For more details about the inverse kinematics of redundant manipulators our works 14 16 can be checked It is mentioned earlier that the proposed manipulator could be used to reduce the weight of the manipulator which yields to a decrease in the size power of the motors used to control the manipulator To show the effectiveness of the proposed manipulator in reducing the torques of its motors the inverse dynamic of the manipulator has been calculated mathematically The inverse dynamic model provides the joint torques in terms of the joint positions velocities and accelerations For robot design the inverse dynamic model is used to compute the actuator torques which are needed to achive a desired motion 17 Several approaches have been proposed to model the dynamics of robots The most Sensors 2012 12 6871 frequently employed in robotics are the Lagrange formulation and the Newton Euler formulation Because the Lagrange formulation is conceptually simple and systematic 18 it has been used in this paper The Lagrange formulation provides a description of the relationship between the joint actuator forces and the motion of the mechanism and fundamentally operates on the kinetic and potential energy in the system 19 The work presented in this paper is based on our previous work 14 which presents a mechanical design for a three dimensional planar redundant manipulator which guarantees to decrease the weight of the manipulator by decreasing the number of motors needed to control it Because the inverse kinematics model gives an infinite number of solutions for a redundant manipulator consequently secondary performance criteria can be optimized 17 such as avoiding singular configurations and minimizing driving joint torques Reference 14 studied the kinematics of the manipulator of this paper and showed in details its ability to avoid singular configurations A comparison of the manipulability index values and the manipulability ellipsoids for the manipulator is made with the manipulability index values and the manipulability ellipsoids of the PUMA arm to show the effectiveness of using the proposed manipulator to avoid singularity In this paper the dynamics of this manipulator are explained in detail The contribution of this work is to explain the ability of this manipulator for joint torque minimization The links and motors mass distribution is studied for both the proposed with three motors and conventional manipulators six motors The driving joint torques have been studied for the proposed manipulator for each joint and the results are compared with the results of the conventional manipulators to show the effectiveness of this manipulator for minimizing driving joint torques 2 The Mechanical Design of the Manipulator To control the motion of the end effector of the manipulator shown of Figure 1 a all the motors of the manipulator should be controlled For example to control a five links planar redundant manipulator with the ability to rotate the entire manipulator around its vertical axis the six motors five motors for each joint angle and one motor to rotate the entire manipulator around its vertical axis of the manipulator should be controlled Using the method of our papers 12 13 the configuration of the manipulator will have three angles to be controlled instead of n angles Figure 1 b shows the configuration of the manipulator when there are just three angles that need to be controlled Because the end effector can follow any desired path by controlling three angles 1 2 and 3 only therefore instead of using a motor for each joint angle three motors can be used for controlling the manipulator This means that for any number of degrees of freedom three dimensional planar redundant manipulators the weight of the links will be significantly decreased using the proposed design To make the manipulator capable of moving in a three dimensional work space one motor will control the value of 1 this means controlling the rotation of the entire manipulator around the vertical axis This motor is situated in such a way as to rotate the base of the manipulator around the z axis The second motor controls the value of 2 which means the rotation of the entire manipulator with its configuration The motor is situated at the base The third motor controls the value of 3 and this motor is situated on the first link This motor will rotate the second link of manipulator about the second axis and because all the next links should rotate about their axes by the same angle 3 therefore there is no need to use motor for each Sensors 2012 12 6872 joint angle but the rotation of the second motor will be transferred to the next joints using gears boxes Figure 2 shows the mechanism of the proposed manipulator Figure 1 a A three dimensional planar redundant manipulator configuration b A three dimensional planar redundant manipulator configuration using the method of 12 13 a b Figure 2 The manipulator used in experiments 14 The draft of the manipulator using the SolidWorks software left The mechanical design of the manipulator right Elaborating further the second motor is connected to the first link using a worm gear to control the angle 2 Figure 3 shows the position of the second motor l n l 3 l 1 0 0 l 2 y axis y tp z tp x tp x tp y tp z tp s x axis z axis 3 4 n 1 2 1 l n l 3 l 1 0 0 l 2 y axis y tp z tp x tp x tp y tp z tp s x axis z axis 3 3 3 2 1 Second motor Third motor First motor Sensors 2012 12 6873 Figure 3 The design of the second joint angle first link with second motor of the manipulator 14 The draft of the second joint angle using the SolidWorks software left The mechanical design of the second joint angle right The third motor is connected to the second link using a worm gear for the same reasons it was used with the first link Controlling the third motor means controlling the angle between the first link and the second link i e the angle 3 Figure 4 shows the position of the third motor Figure 4 The design of the third joint angle second link with third motor of the manipulator 14 The draft of the third joint angle using the SolidWorks software top left The draft of the whole manipulator using the SolidWorks software top right The mechanical design of the third joint angle bottom The mechanism of the third link is shown in Figure 5 The same mechanism of the second link is used the only one difference is that instead of using s worm as a driver and s wheel gear as a driven two bevel gears are used The same mechanism of the third link can be used with the next links The last link has the mechanism shown in the Figure 6 For further details of the mechanical design of the manipulator our reference 14 can be checked worm driver gear 1 st link Second motor worm gear wheel planetary gear bevel gear 1 bevel gear 2 arm 1 st link 2 nd link Third motor Sensors 2012 12 6874 Figure 5 The design of the fourth joint angle third link of the manipulator 14 The draft of the fourth joint angle using the SolidWorks software top left The draft of the whole manipulator using the SolidWorks software top right The mechanical design of the fourth joint angle bottom Figure 6 The last joint of the manipulator To ensure that all the links move at the same joint angle the ratio between the bevel gears of each planetary gear should be equal to one This means the bevel gears of each planetary gear should have the same diameter and number of teeth If this arm is fixed we get 1 2 2 1 N N w w 1 the last link Sensors 2012 12 6875 where w is the angular velocity of gear and N is the number of teeth of gear In our manipulator it is noted that the first gear is fixed while the second gear and the arm are rotating It is desired that both the arm and the second gear have the same angular velocity Because the arm is not stationary then we cannot use the previous equation i e the mechanism is not an ordinary gear train but a planetary gear train To convert this planetary gear train to an ordinary gear train it is assumed that the arm is stationary while a first gear has an angular velocity and not fixed This means that a www 11 2 0 aaa www 3 And because the second gear will continue rotating with the same angular velocity then 22 ww 4 Now the Equation 1 can be rewritten as follows 2 1 1 2 2 1 w ww N N w w a 5 For our manipulator it is desired to move both the arm and the second gear by the same angular velocity w which means 1 2 0 N N w w 21 NN 6 To make the manipulator to have the ability to move in a three dimensional work space a motor is added to the base of the manipulator to make the whole manipulator capable of rotating around the z axis This motor controls 1 Figure 7 shows the mechanism of the first motor Figure 7 The mechanism of the first motor To calculate the transformation matrix of the manipulator the draft of the manipulator shown in Figure 8 is used The corresponding link parameters of the manipulator are shown in Table 1 Where l 1 l 2 l 5 are the length of the links while d 1 is the offset between the origin and the end effector Sensors 2012 12 6876 Figure 8 The manipulator used in experiments Table 1 Link parameters of the manipulator i a d 1 90 0 0 1 2 0 l 1 d 1 2 3 0 l 2 0 3 4 0 l 3 0 4 5 0 l 4 0 5 6 0 l 5 0 6 From the links parameters shown in Table 1 and using Equation 7 which defines the transformation matrix T for the links 1 we compute the individual transformations for each link 1000 cossin 0 sinsincoscoscossin cossinsincossincos 1 d a a T iii iiiiiii iiiiiii i i 7 where c i cos i and s i sin i 1000 0010 00 00 11 11 1 0 cs sc T 1000 100 0 0 1 2122 2122 2 1 d slcs clsc T 1000 0100 0 0 3233 3233 3 2 slcs clsc T 1000 0100 0 0 4344 4344 4 3 slcs clsc T 1000 0100 0 0 5455 5455 5 4 slcs clsc T 1000 0100 0 0 6566 6566 6 5 slcs clsc T 8 Finally we obtain the product of all six link transforms 6 5 5 4 4 3 3 2 2 1 1 0 6 0 TTTTTTT 9 x axis y axis z axis d 1 l 1 l 2 l 3 l 4 l 5 origin target point Sensors 2012 12 6877 3 Dynamics of the Manipulator In this section the torque of each joint is calculated To show the effectiveness of the proposed manipulator the joint torques are calculated using the proposed manipulator using three motors only and the conventional manipulators a motor for each joint Let us assume for concreteness that the center of mass of each link is at its geometric center For the manipulator used in our experiments the mass of links without the motors are as follow ml 1 760 gm ml 2 720 gm ml 3 680 gm ml 4 640 gm and finally ml 5 600 gm These masses are calculated for the manipulator with l 1 19 cm l 2 18 cm l 3 17 cm l 4 16 cm l 5 15 cm and d 2 21 cm The mass of each motor is 1 500 gm for the manipulator of the proposed design the first motor and the second motor are located on the base and not on the links themselves Therefore for our manipulator the mass of the first link will be equal to the mass of this link 760 gm plus the mass of the motor 1 500 gm that controls the next links Because there are no more motors the mass of the links will be m 1 2 260 gm m 2 720 gm m 3 680 gm m 4 640 gm and m 5 600 gm Figure 9 a shows the mass of each link with its motor for the manipulator of the proposed design Figure 9 The position of mass for a the proposed manipulator b the conventional manipulator For the conventional three dimensional planar manipulator one motor for each link the mass of the first link will equal to the mass of link itself plus the mass of the motor which controls the second link position i e 760 1 500 gm The mass of the second link will equal to the mass of link itself plus the mass of the motor which controls the third link position i e 720 1 500 gm The mass of the third link will equal to the mass of third link plus the mass of the motor which controls the fourth link position i e 680 1 500 gm The mass of the fourth link will equal to the mass of fourth link plus the mass of the motor which controls the fifth link position i e 640 1 500 gm while the mass of the last link will equal to the mass of the link itself because there are no more motors i e 600 gm Figure 9 b shows the mass of each link using the manipulator with five motors while Table 2 shows the values of mass of the links using both the manipulator with two motors and the manipulator with five links x axis y axis z axis ml 2 ml 3 ml 4 ml 5 origin target point m motor2 ml 1 m motor3 x axis y axis z axis origin target point m motor2 ml 1 m motor3 ml 5 ml 3 m motor5 ml 4 m motor6 ml 2 m motor4 Sensors 2012 12 6878 Table 2 The mass of links for both the proposed and conventional manipulators m n gm Proposed manipulator Conventional manipulator m 1 gm 1 500 1 500 m 2 gm 2 260 2 260 m 3 gm 720 2 220 m 4 gm 680 2 180 m 5 gm 640 2 140 m 6 gm 600 600 It is clearly noted how the proposed method could be used to decrease the weight of manipulator Decreasing the weight leads to a decrease of the torques of each link The next section shows the results of the torques of each joint when the end effector is following a desired path Using the Lagrangian formulation the dynamical equations of motion of the manipulator is 6 1j iiijij QGVqM 10 for i 1 2 6 The first term in this equation is the inertia forces the second term represents the Coriolis and centrifugal forces and the third term gives the gravitational effects 1 20 21 Dynamics equations of the manipulator are discussed in details in the Appendix As shown by dynamics equations increasing the weight of motors will increase the torques needed to control the manipulator In order to decrease the effect of the motors weight on the inertia of manipulators parallel manipulators are used as we mentioned earlier For example in reference 22 the parallel manipulator is actuated by three servo motors located at the base which contributes to reducing the inertia of manipulators Reference 23 shows another way to decrease the effect of the motors weight on the inertia of manipulators This reference shows a simple configuration design which comprises of only three joints two at the shoulder and one at the hand In this design the moment of inertia of the arm is constant and independent from the joint angles In contrast for our manipulator we see from Equations A21 A25 that the moment of inertia value is dependent on the joint angles 4 Simulation Results This section shows the effectiveness of using the proposed manipulator to be used when it is desired to make the end effector follow a desired path This section has two examples The first example calculates the torques using both manipulators the proposed one and the conventional three dimensional planar manipulator and shows how effective the proposed manipulator is in decreasing the torque of each joint required to move the manipulator To verify the estimation results and compare between them and the results measured from the manipulator itself the second example has been shown This example shows the results if the torque using 1 the conventional three dimensional planar manipulator with defined desired joint angles path 2 the proposed manipulator with the defined desired joint angles path and finally 3 the proposed manipulator with the measured joint angles path when the joint angles follow the desired joint angles