基于主从力反馈的同构主手设计与研究

Design and Research of Isomorphic Master Hand Based on Force Feedback

在变电站场景中,巡检机器人已经逐步取代人工巡检作业。但现有机器人存在遥操作效率低、无法很好地实现拟人化操作等问题,难以完成变电站巡检作业中急停、拉闸等接触性操作任务,亟需研发对变电站巡检具有高适应性的协同作业机器人。针对变电站巡检处置应用需求,开展了基于主从力反馈的巡检机器人遥操作技术研究,设计了一款串联型同构主手,结构上主从映射关系直接,控制上力反馈双向控制完整,实现了六自由度机械臂主从力反馈,便于进行精细化操作。开展主从力反馈技术研究,通过构建和简化动力学模型实现负载、摩擦力补偿,采用力直接反馈型双向控制策略。完成样机研制并进行了功能验证和精度测试实验,结果表明主手能够较好地完成巡检操作基本任务,力反馈误差小于7%,机械臂末端跟踪精度优于2 mm,验证了机械结构及控制系统的有效性。

Inspection robots have gradually replaced manual inspection operations in electrical substations.However,existing robots have problems such as low remote operation efficiency and inability to achieve anthropomorphic operation well,which makes it difficult to complete contact operation tasks such as emergency stop and switch operation in substation inspection.Therefore,it is urgent to develop collaborative robots with high adaptability to substation inspection.Aiming at the application requirements of substation inspection and handling,this paper carries out research on the teleoperation technology of inspection robot based on master⁃slave force feedback,and designs a series isomorphic master hand with direct master⁃slave mapping relation and complete bidirectional control of force feedback,which realizes the master⁃slave force feedback of the 6⁃DOF robot arm and is convenient for fine operation.Research on the master⁃slave force feedback technology is carried out,load and friction compensation are realized by constructing and simplifying the dynamic model,and the bidirectional control strategy of direct force feedback is adopted.The prototype is developed and the functional verification and accuracy testing experiments are carried out.The results show that the main hand can complete the basic task of inspection operation well,the force feedback error is less than 7%,and the tracking accuracy of the end of the robot arm is better than 2mm,which verifies the effectiveness of the mechanical structure and control system.