五連桿式人機合作機器人控制及實驗研究.pdf

1、分類號：——UDc——V780564密級：——編號：——工學(xué)碩士學(xué)位論文五連桿式人機合作機器人控制及實驗研究碩士研究生：指導(dǎo)教師：學(xué)位級別：學(xué)科、專業(yè)：所在單位：論文提交日期：論文答辯日期：學(xué)位授予單位：沈錦華張立勛教授工學(xué)碩士機械電子工程機電工程學(xué)院2004年12月2004年12月哈爾濱工程大學(xué)哈爾濱工程大學(xué)碩士學(xué)位論文Abstract。Ihesafetyproblembetweentheworkersandrobotsthatwor

2、kintheSanleworkspacehasbeenthemainbottleneckofthedevelopmentoftherobotictechnologyWitllthedevelopmentofthetheoryofvirtualconstraintandthetechniqueofcollaborativerobot(Cobot)。thistroublemaybewiUbesolvedThepaperwillsemphas

3、izeontheresearchoftheNonholonomicconstrainttransmission(NCT)andthedesignofthecontrolsystemoftheFive—BarCobotInthepaperthecontrolsstrategyoftheFiveBarCobotiSintroducedandtheprototypeofFive—BarCobotisbeenbuiltTheconcl他tere

4、searchisasfollowing：Firstlyaccordingtothetheoryofvirtualconstraint，theNCTusingtwotranscendclutchisresearchedItdesignsthesystemoftheFiveBarCobotnepaperstudiesanddcdUCeStheWOrkprincipleandworkmodeofCobotSecondlyowingtoanal

5、yzingthekinematicsofFive—BarCobot，theequationofkinematicsandtheworkspacearededucedInthepaperitdesignstheprototypeofthecontrolsystemandthetacticofcontrolofCobotaccordingtothepassiveperformanceofFiveBarCobot11lirdlythesoft

6、wareandhardwareofthecontrolsystemofFiveBarCobotisdesignednleembeddedcontrollersoftwarebased011allofworkmodeandtheinterfacehardwareisdevdopedAttheendofthisP8DeritdotheexperimentwiththeFive—BarCobotprototypeExperimentresul