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。
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.
作者
蒋君侠
董群
金杰峰
JIANG Junxia;DONG Qun;JIN Jiefeng(College of Mechanical Engineering,Zhejiang University,Hangzhou 310027;Hangzhou Jingye Intelligent Technology Co.,Ltd.,Hangzhou 310051)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2021年第11期195-205,共11页
Journal of Mechanical Engineering
关键词
热室
主从遥控机械手
运动学
关系矩阵
重力补偿
hot cell
master-slave telemanipulator
kinematics
relation matrix
gravity compensation