硕士学位论文
STUDY ON MODULAR MANIPULATOR DESIGN AND ITS PATH PLANNING METHOD
王帅军
哈尔滨工业大学
2015年6月
国内图书分类号：TP24 学校代码：10213 国际图书分类号：621 密级：公开
工学硕士学位论文
模块化机械臂设计及其路径规划方法研究
硕士研究生：王帅军
导师：王昕教授
申请学位：工学硕士
学科：机械电子工程
所在单位：深圳研究生院
答辩日期：2015年6月
授予学位单位：哈尔滨工业大学
Classified Index: TP24
U.D.C: 621
Dissertation for the Master’s Degree in Engineering
STUDY ON MODULAR MANIPULATOR DESIGN AND ITS PATH PLANNING METHOD
Candidate：Wang ShuaiJun
Supervisor：Prof. Wang Xin机械论文
Academic Degree Applied for：Master Degree of Engineering Speciality：Mechanical and Electronic
Engineering
Affiliation：Shenzhen Graduate School
Date of Defence：June, 2015
Degree-Conferring-Institution：Harbin Institute of Technology
摘要
随着人类太空任务需求的不断增加，将会有愈来愈多的空间在轨任务需要被完成。作为目前为止唯一的空间任务执行终端，机械臂在空间的各种任务中发挥着重要的作用，并且可以预见在不远的将来，机械臂的应用将会更加广泛。本文设计研制了一种模块化机械臂，并以之为平台进行了机械臂系统的测试和路径规划方法的研究。
本文根据研制要求，制定了模块化机械臂的技术指标和设计方案，然后研制了模块化关节，该关节具有高减速比、大力矩输出等特点；根据技术指标，对模块化关节内部的关键部件进行了合理选型。进行了关节的机械结构设计和机械臂连杆的结构设计和优化，并利用有限元软件对重要的结构件进行了强度校核。
研究了空间机械臂的运动学，并结合研制的机械臂，利用运动学和摄动法原理分析了模块化机械臂关节误差和模块化机械臂末端之间的关系。以运动学为基础，研究了两种路径规划方法：经典的利用广义雅克比矩阵逆解的方法和基于多智能体系统的机械臂路径规划方法，并进行了比较，逆解广义雅克比矩阵的方法存在奇异问题，并且随着机械臂自由度增大，计算量也会成指数级增长；基于多智能体思想的机械臂路径规划方法，避免了逆解的运用，减小了计算量，该方法为将来的多自由度机械臂的路径规划提供了研究基础。
搭建了模块化机械臂的实验平台，进行了基本的机械臂运行性能测试和路径规划算法测试，验证了机械臂系统的可用性和算法的有效性。
关键词：模块化；有限元；路径规划；多智能体
Abstract
Along with the increasing of human space missions, there will be more and more space tasks need to be completed. As the only executing terminal of space missions, space manipulator plays an important role in all kinds of tasks. And it can be seen in the near future that the application of manipulator will be more extensive. In the dissertation a modular manipulator is designed, and some basic test of the manipulator system and study on path planning is done.
According to the requirements of the assignment, the technical specifications and design scheme are given. Then the modular joints which have the characteristic of high reduction ratio and high torque is designed. And we also select the key components of the modular joint based on the technical specifications. The structure of the joints and arm links are designed, and the intensity check of parts is done via finite element analysis.
The kinematics of space robots is derived and we analyze the relationship between the error of the modular joint and the terminal error of the manipulator. Based on kinematics we derive, two kinds of path planning methods is study in this dissertation, they are classical method and the multi-agent method. In the former method the inversion of generalized Jacobian matrix is required. The computational load of this method would increase with the increasing of the freedoms of manipulators; while using the multi-agent method we can do the path planning without inversing the generalized Jacobian matrix so that the computational load will be less than the classical method.
The experimental platform of the manipulator is established, and the basic test of the manipulator system is done. The path planning algorithm are carried out. The results show that the manipulator is proved to work well and the path planning method is effective.
Keywords: modular, finite element, path planning, multi-agent