Please wait a minute...
浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (5): 864-872    DOI: 10.3785/j.issn.1008-973X.2022.05.003
机械工程     
后处理全齿轮传动机械臂的设计
金丁灿1,2(),蒋君侠1,*(),来建良2,金杰峰2,吴德慧3,沈琛林3,宋文博3
1. 浙江大学 机械工程学院，浙江 杭州 310027
2. 杭州景业智能科技股份有限公司，浙江 杭州 310051
3. 中国核电工程有限公司，北京 100840
Design of gearing chain-based manipulator for post-processing
Ding-can JIN1,2(),Jun-xia JIANG1,*(),Jian-liang LAI2,Jie-feng JIN2,De-hui WU3,Chen-lin SHEN3,Wen-bo SONG3
1. School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
2. Hangzhou Jingye Intelligent Technology Limited Company, Hangzhou 310051, China
3. China Nuclear Power Engineering Limited Company, Beijing 100840, China
 全文: PDF(1560 KB)   HTML
摘要：

针对纯齿轮传动的机械臂存在的耦合关系复杂、传动件外露、灵活度低和重复定位精度低等问题，提出新型全齿轮传动的机械臂设计方案. 该方案通过运动关系解耦，将齿轮组间2种强相关耦合关系简化为1种. 基于耦合逻辑关系简化和结构优化，实现了关节全密封与无限转动的设计理念. 通过机械臂运动学解析解公式推导与全齿轮传动耦合逻辑分析结果的结合，完成适用于全齿轮耦合传动机械臂的控制算法设计. 基于耦合控制算法进行机械臂的运动空间分析与控制程序编写，实现机械臂的灵活性验证与自动控制功能，并在机械臂测试系统上进行试验验证. 仿真和试验结果表明，该机械臂的耦合原理、设计结构和控制算法可行，满足复杂放射性环境下机械臂自动化应用的需求.
关键词： 复杂耦合关系;  机械臂;  关节全密封;  齿轮传动;  放射性环境    
Abstract:

A new type of design scheme of a gearing chain-based manipulator was proposed, aiming at the existing problems of complex coupling relationship, exposed transmission parts, and low flexibility and low repeat positioning accuracy of the gearing chain-based manipulators. The scheme decoupled the kinematic relationship and simplified the two strongly correlated coupling relationships between the gear sets into one. Based on the simplification of the coupling logic relationship and the optimization of the structure, the design concepts of fully sealed joints and infinite rotation were realized. Then, the control algorithm for the gearing chain-based manipulator was derived through the combination of the kinematics analytical solution formula derivation and the analysis results of gear chain transmission logic coupling of the manipulator. Based on the coupling control algorithm, the motion space was analyzed and the control program of the manipulator was written to realize the flexibility verification and automatic control functions. Besides, test verification was carried out on the test system of the manipulator. Simulation analysis and experimental research result show that the coupling principle, structural design and control algorithm of the new manipulator are feasible and meet the needs of automation applications of manipulators in complex radioactive environments.
Key words: complex coupling relationship    manipulator    fully sealed joints    gear chain    radioactive environment
收稿日期: 2021-05-19 出版日期: 2022-05-31
CLC:  TL 292  
基金资助: 2022年度浙江省“尖兵”“领雁”研发攻关计划项目（2022C01054）
通讯作者: 蒋君侠     E-mail: jindingcan@163.com;junxia.jiang@126.com
作者简介: 金丁灿（1991—），男，博士，从事核工业机器人设计. orcid.org/0000-0002-3896-277X. E-mail: jindingcan@163.com
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
作者相关文章　　
金丁灿
蒋君侠
来建良
金杰峰
吴德慧
沈琛林
宋文博

引用本文:

金丁灿,蒋君侠,来建良,金杰峰,吴德慧,沈琛林,宋文博. 后处理全齿轮传动机械臂的设计[J]. 浙江大学学报(工学版), 2022, 56(5): 864-872.

Ding-can JIN,Jun-xia JIANG,Jian-liang LAI,Jie-feng JIN,De-hui WU,Chen-lin SHEN,Wen-bo SONG. Design of gearing chain-based manipulator for post-processing. Journal of ZheJiang University (Engineering Science), 2022, 56(5): 864-872.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.05.003    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I5/864

图 1  2种机械臂的结构特点对比
图 2  机械臂的传动原理对比
图 3  箱室机械臂的外置动力组件
图 4  箱室机械臂的运动传递结构
图 5  箱室机械臂的连杆坐标系
i αi?1/(°) ai?1/mm di/mm θi/(°)
1 0 0 ?c θ1
2 90 0 0 θ2?90
3 0 a 0 θ3
4 0 b d θ4?90
5 90 0 ?e θ5
6 ?90 0 ?f θ6
表 1  箱室机械臂的D-H参数表
图 6  箱室机械臂的运动耦合补偿原理
图 7  2种机械臂的可达空间切面分布对比
图 8  2种机械臂的三维可达空间对比
图 10  箱室机械臂的客户端构架与界面
图 9  箱室机械臂的控制构架图
图 11  箱室机械臂的虚拟界面
图 12  箱室机械臂的关键指标测试
图 13  定位精度的测试方法与结果
图 14  各测试点离平均空间位置的偏差量
1 SCHNEIDER M, FROGGATT A, HAZEMANN J, et al. The world nuclear industry status report 2017 [R]. Paris: Mycle Schneider Consulting, 2017.
2 瓮松峰 压水堆核电站乏燃料运输辅助设备设计[J]. 核动力工程, 2012, 33 (6): 147- 150
WENG Song-feng Design of the ancillary equipment for spent fuel transport of PWR nuclear power plant[J]. Nuclear Power Engineering, 2012, 33 (6): 147- 150
doi: 10.3969/j.issn.0258-0926.2012.06.033
3 李想, 张宏韬 乏燃料后处理产业的市场前景及发展路径[J]. 南方能源建设, 2017, 4 (3): 35- 38
LI Xiang, ZHANG Hong-tao Market prospect and development path for the industry of spent fuel recycle management[J]. Southern Energy Construction, 2017, 4 (3): 35- 38
4 辛露, 陈凯 核工业机器人系统中辐照加固技术研究[J]. 科技视界, 2019, 3: 8- 12
XIN Lu, CHEN Kai Research on radiation reinforcement technology in nuclear industry robot system[J]. Science and Technology Vision, 2019, 3: 8- 12
5 高松海. 遥控机器人[M]. 北京: 原子能出版社, 1981: 17-30.
6 MEASSON Y, DAVID O, LOUVEAU F, et al Technology and control for hydraulic manipulators[J]. Fusion Engineering and Design, 2003, 69 (1–4): 129- 134
doi: 10.1016/S0920-3796(03)00280-1
7 GEFFARD F, GARREC P, PIOLAIN G, et al TAO2000 V2 computer-assisted force feedback telemanipulators used as maintenance and production tools at the AREVA NC-La Hague fuel recycling plant[J]. Journal of Field Robotics, 2012, 29 (1): 161- 174
doi: 10.1002/rob.20426
8 LEE J K, LEE H J, PARK B S, et al Bridge-transported bilateral master-slave servo manipulator system for remote manipulation in spent nuclear fuel processing plant[J]. Journal of Field Robotics, 2012, 29 (1): 138- 160
doi: 10.1002/rob.20419
9 LEE J K, PARK B S, YU S N, et al Crane system with remote actuation mechanism for use in argon compartment in ACPF hot cell[J]. Nuclear Engineering and Design, 2016, 307: 144- 154
doi: 10.1016/j.nucengdes.2016.07.011
10 RAY D D, MISHRA J K, SAKRIKAR R V, et al. An evolution of remote handling technology for the Indian nuclear research and industry scenario [C]// International Conference on Advancements in Automation, Robotics and Sensing. Singapore: Springer, 2016: 11-20.
11 李贵生, 唐辉, 符勰, 等 中试厂俄罗斯三关节机械手的调试与应用[J]. 研究危害的线性无阈(LNT)模型及目前对模型的评价, 2011, 2: 50- 56
LI Gui-sheng, TANG Hui, FU Xie, et al Debugging and application of russian three-joint manipulator in the pilot plant[J]. Progress Report on China Nuclear Science and Technology, 2011, 2: 50- 56
12 张国伟, 李斌, 陈丽惠, 等. 核工业电随动主从机械手控制系统研制[J]. 仪器仪表学报, 2010, 31(8): 245-249.
ZHANG Guo-wei, LI Bin, CHEN Li-hui, et al. Control system of master-slave electric manipulator for nuclear industry[J]. Chinese Journal of Scientific Instrument. 2010, 31(8): 245-249.
13 张显鹏, 江常玉 国产主从式机械手电动部分改为遥控的设计[J]. 核动力工程, 2016, 37 (增1): 12- 13
ZHANG Xian-peng, JIANG Chang-yu Design of remote control to replace electric parts of master-slave manipulator[J]. Nuclear Power Engineering, 2016, 37 (增1): 12- 13
14 丁渊明, 王宣银 串联机械臂结构优化方法[J]. 浙江大学学报: 工学版, 2010, 44 (12): 2360- 2364
DING Yuan-ming, WANG Xuan-yin Optimization method of serial manipulator structure[J]. Journal of Zhejiang University: Engineering Science, 2010, 44 (12): 2360- 2364
15 姜宏超, 刘士荣, 张波涛 六自由度模块化机械臂的逆运动学分析[J]. 浙江大学学报: 工学版, 2010, 44 (7): 1348- 1354
JIANG Hong-chao, LIU Shi-rong, ZHANG Bo-tao Inverse kinematics analysis for 6 degree-of-freedom modular manipulator[J]. Journal of Zhejiang University: Engineering Science, 2010, 44 (7): 1348- 1354
16 徐彦, 方琴, 张超, 等 气动软体自折叠机械臂的驱动和负载性能[J]. 浙江大学学报: 工学版, 2020, 54 (2): 398- 405
XU Yan, FANG Qin, ZHANG Chao, et al Driving and load performances of pneumatic soft self-folding manipulators[J]. Journal of Zhejiang University: Engineering Science, 2020, 54 (2): 398- 405
17 PIEPER D L. The kinematics of manipulators under computer control [D]. California: Stanford University, 1968.
18 中华人民共和国国家质量监督检验检疫总局, 中国国家标准化管理委员会. 工业机器人性能规范及其试验方法: GB/T 12642—2013 [S]. 北京: 中国标准出版社, 2013.
[1] 蒋君侠,掌新辕,陶邦明,董群. 基于被动柔顺机理的电机遥操作更换机构设计和实验[J]. 浙江大学学报(工学版), 2021, 55(5): 855-865.
[2] 王泽胜,李研彪,罗怡沁,孙鹏,陈波,郑航. 七自由度冗余混联机械臂的动力学分析[J]. 浙江大学学报(工学版), 2020, 54(8): 1505-1515.
[3] 徐彦,方琴,张超,李鸿巍. 气动软体自折叠机械臂的驱动和负载性能[J]. 浙江大学学报(工学版), 2020, 54(2): 398-406.
[4] 吴爱国,吴绍华,董娜. 机械臂非奇异快速终端滑模模糊控制[J]. 浙江大学学报(工学版), 2019, 53(5): 862-871.
[5] 陈茜,李俊阳,王家序,蒋倩倩,唐挺. 制造误差对谐波齿轮应力的影响规律[J]. 浙江大学学报(工学版), 2019, 53(12): 2289-2297.
[6] 王扬威, 兰博文, 刘凯, 赵东标. 形状记忆合金丝驱动的柔性机械臂建模与实验[J]. 浙江大学学报(工学版), 2018, 52(4): 628-634.
[7] 王晨学, 平雪良, 徐超. 解决约束平面偏移问题的机械臂闭环标定[J]. 浙江大学学报(工学版), 2018, 52(11): 2110-2119.
[8] 陈鹏, 项基, 韦巍. 基于GWLN方法的冗余机械臂关节力矩约束控制[J]. 浙江大学学报(工学版), 2017, 51(1): 68-74.
[9] 潜龙昊, 胡士强, 杨永胜. 多节双八面体变几何桁架臂逆运动学解析算法[J]. 浙江大学学报(工学版), 2017, 51(1): 75-81.
[10] 姜宏超, 刘士荣, 张波涛. 六自由度模块化机械臂的逆运动学分析[J]. J4, 2010, 44(7): 1348-1354.
[11] 唐志国, 李元春, 刘木林. 机械臂协调操作柔性负载鲁棒神经网络控制[J]. J4, 2010, 44(7): 1394-1399.
[12] 帅鑫, 李艳君, 吴铁军. 一种柔性机械臂末端轨迹跟踪的预测控制算法[J]. J4, 2010, 44(2): 259-264.
[13] 丁渊明, 王宣银. 串联机械臂结构优化方法[J]. J4, 2010, 44(12): 2360-2364.