一个 10 自由度机器人机械手的设计及运动分析外文文献翻译、中英文翻译
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附录 1:外文翻译一个 10 自由度机器人机械手的设计及运动分析Ming-Chang Teng, Yi-Jeng Tsai, Chin-Chi Hsiao 台湾工业技术研究所机械系统研究所(电话:886-3-5916577;电子邮件:dmcitri.org.tw)(电话:886-3-5918789;电子邮件:yijengtsaiitri.org.tw)(电话:886-3-5913896;电子邮件:hsiao_ccitri.org.tw)摘要:在本文中,分析阐述了一个 10 自由度(DOF)的机械手的形态,包含 6 自由度机器人轻型臂和 4 自由度手。这个机器人,Roppie,已经被台湾的科技工业调查机构开发为一个服务机器人.其主要特点是有 10 个自由度,重量轻的设计,灵活运动控制与视觉特征识别相结合的目标操作。其重量为 5.7 公斤,其有效载荷为 1.2 公斤,其尖端点速度可达 1 米/秒。关键词:机械手,轻量化,仿人,运动学1.简介在 20 世纪 60 年代左右机器人最初被设计为执行预先命令的操作者。随着微处理器的发展,机器人不仅被认作一个简单的执行者,但也被认作自动多功能机。即将到来的机器人将与人类共存,在医学、福利和家庭领域,机器人会支持改善人类的生活。其中一个关键问题是设计一个灵巧和安全机器人机械手时,其由于友好的感觉,设计规格与人类的手臂相似。最近仿人机器人机械手已被广泛研究并作为服务机器人应用于服务行业。创建实现它的运动的方法是能够采用不同的组件或它们的组合,如马达,气动或液压驱动或人工肌肉。在事实上,基于电机驱动的机械手通常很重和相对低的有效载荷总重量比。尽管如此,由于其可控性高,重量轻,他们更可能实现人形机器人。用特殊的发动机,几家知名团队研发了高性能机器人。本田研发公司公司 1 展示了一个 9 自由度机器人机械手,并应用到 ASIMO。其机械手可以执行灵巧的运动,它可以抓住一个 0.3 公斤的物体和抬起一个 1 公斤物体与其他机械手配合。由于安全问题,森田和野 2 设计了一种机械阻抗调节器安装在机械手上。此外,粘弹性关节的设计,使机械手更紧凑和兼容 3 。机器人,叫 Twendy-One 的,被设计并演示成跟人很像的并能灵活的抓取。拟人机器人机械手的另一个重要问题是仿人机械手设计。近年来多指机器人手发展起来。一般来说,多指手的设计分为两个类别.一个是设计一个多指手为了容易和简单控制,能可靠地抓取物品,例如 Domo 机器人手 5 。二是设计仿人机械手,它有很高的敏捷性。然而,这种典型的人形机器人手系统是由复杂的,沉重的机制组成。用复杂的控制方法,如犹他麻省理工学院 6 ,Gifu Hand III 7 、 8 和 DLR 手 II。这些机械手具有良好的可控性,以满足安全要求。然而,他们的成本太昂贵以至于不能普及到人类日常生活中。最近,一些研究人员设计重量轻的仿人机器人操作系统。在本文中,紧凑型机器人机械手的设计考虑了其重量轻,高灵巧,几乎全方位移动就像人体手臂一样。这个机器人的运动是基于 D-H 模型符号。反转运动学与最小二乘解几种几何优化方法约束。有这种目的性的设计和运动学方法,10 自由度机器人已经成功地发展为一个服务机器人,Roppie,由台湾的工业台湾研发机构设计,用来服务人类。图 1 显示了服务机器人的外形,Roppie。图 1:服务型机器人的外形,Roppie2.人体手臂形态分析通迪 12 提出了一种 9 自由度机器人手臂模型包括锁骨运动,模拟人体手臂全范围的运动。一般来说,一个 7 自由度机器人手臂足够执行日常任务。在这项研究中,机器人手臂基于 Tondu 的锁骨运动被排除的简化模型,如图 2 所示。人类的肩可以被视为球和窝的连接。有力地,精准地驱动通过球和窝的链接是不容易的。一般来说,机器人的肩膀被模拟作为一个组合的万向节转动关节。人的肘无疑是一个转动关节,以执行肱骨与桡骨之间的屈伸运动。肱骨与桡骨的相关运动可以建模为一个转动关节。人体手腕是典型的万向节。在这项研究中,机器人手腕被建模为一个单一的旋转接头。出于驱动模块限位空间的考虑机器人手臂出现了。机器人手被模拟为一个 4 自由度的手抓一些国内物体.总的来说,在文章中机器人机械手包括 6 自由度的手臂和 4 自由度。人类手臂和机器人手臂的活动范围在表 1 中进行比较。机器人的长度和重量的设计涉参照了来自职业安全与健康研究所台湾 13 的人手臂数据库。假如成年男性为 170 厘米,平均手臂长度就为 75.82 厘米,平均手臂重量超出肩膀 4.01 公斤。机器人外观设计试图接近规格人的手臂。图 2:人手的动态模型【12】表 1.人手和机械手的比较运动人手(角度)机械手(角度)人的 AB/AD 1-401801090人的灵活性/外部 2-40180-100190人的外部/内部 旋转3-3090-4590胳膊肘的灵活度/外部401400120径向/尺的 sup-8080-9090手腕的灵活/外部 6-6060060手腕 AB/BD 7-3535-三.机械手机械设计机器人机械手的目标是接近人类手臂,并把握一些重量低于 1.5 公斤的国内物体. 通过考虑机器人机械手的外观及其性能,细长型直流电机适用于机械手。本研究,无刷直流微电机、减速器、编码器和控制器被选择组成的驱动模块表 2 列出。ie2-512 编码器和 MCDC 3003 / 6c 控制器被选择为精确和高带宽控制系统。表 2:机械手的发动机型号发动机减速器(型号,齿轮传动比)发动机型号#13863A024C38/2,246:1发动机型号#2386A024C38/2,134:1发动机型号#3 e-mail:DMCitri.org.tw)*(Tel: 886-3-5918789; e-mail:YiJengTsaiitri.org.tw)*(Tel: 886-3-5913896; e-mail:hsiao_ccitri.org.tw)Abstract: In this paper, a 10 degree-of-freedom (D.O.F.) robot manipulator consisting of a 6 D.O.F. light-weight arm and a 4 D.O.F. cable driven hand is presented with the morphological analysis. The robot manipulator, Roppie, has been developed as a service robot by Industrial Technology Research Institute (ITRI) in Taiwan. Its main features are 10 degrees of freedom, light-weight design, and flexible object manipulation by integrating motion control and vision feature recognition. Its weight is 5.7 kg, its payload is 1.2 kg, and its tip point velocity is up to 1 m/s.Keywords: robot manipulator, light-weight, humanoid, kinematics1. INTRODUCTIONRobots were first designed to appear as manipulators to perform the pre-ordered commands around the 1960s. With the development of microprocessors, the robots are appreciated not only as a simple action performer but also as an autonomous multi-purpose machine. The oncoming robots will coexist with humans for supporting and enhancing humans life in the fields of medicine, welfare and household activities. One key issue is to design a dexterous and safe robot manipulator when its specifications are similar to real human arm ones due to friendly feeling.Humanoid robot manipulators have been extensively studied and applied to service industry as a service robot recently. The approach to create its motion is able to be designed by adopting different components or their combinations, such as motor, pneumatic, or hydraulic drives or artificial muscle. In fact, the motor drive based robot manipulators are usually heavy and have relatively low ratio of payload to total weight. Nonetheless, they are more likely realized as humanoid robot due to its high controllability but low weight. With specially made motors, several well-known research teams developed the high performance robot manipulators. Honda R&D Co. Ltd. 1 presented and incorporated a 9 D.O.F. robot manipulator into ASIMO. Its manipulator can perform dexterous motion when it can grasp a 0.3 kg object and lift a 1 kg object in cooperation with the other manipulator. Morita and Sugano 2 designed a mechanical impedance adjuster to be mounted on the robot manipulator due to a safety issue. Furthermore, a visco-elastic joint was designed to make the manipulator more compact and compliant 3. The robot, called Twendy-One, was designed and performed highly human-following and dexterously grasping.Another important issue for humanoid robot manipulator is the design of humanoid robotic hand. Many multi-fingered robotic hands have been developed in recent years. In general,the design of multi-fingered hand is classified into two categories. One is to design a multi-fingered hand for easy and simple controllability with enough capability of reliable grasping, such as the BarrettHand 4, and DOMO Robot hand 5. The other is to design a humanoid robotic hand, which has high dexterity. However, this typical humanoid robotic hand system is made of complex, heavy mechanisms with a complicated control method, such as the Utah/MIT hand 6, Gifu Hand III 7, and DLR-Hand II 8. These robot manipulators show good controllability to meet a safety requirement. However, their costs are too expensive to prevent popularizing robots into human daily life.Recently, numbers of researchers have designed light-weight and humanoid robot manipulators 9-11. In this paper, the compact design of the robot manipulator is presented with considerations of its light-weight, high-dexterity, and nearly full range movement similar to the human arm one. The kinematics of robot manipulator is modelled based on D-H notation. The inverse kinematics is solved with the least- square optimization method under several geometric constraints. With the proposed design and kinematic approach, the 10 D.O.F robot manipulator is successfully developed as a service robot, Roppie, by Industrial Taiwan Research Institute in Taiwan to serve humankind. Fig. 1 shows the appearance of the service robot, Roppie.Fig. 1. The appearance of service robot, Roppie.978-3-902823-31-1/13/$20.00 2013 IFAC3310.3182/20130410-3-CN-2034.00022IFAC Mechatronics 13April 10-12, 2013. Hangzhou, China412. MORPHOLOGICAL ANALYSIS OF HUMAN ARMTondu 12 presented a robot arm model of 9 D.O.F. including the clavicular motion to simulate the full range movement of human arm. In general, a 7 D.O.F. robot arm is enough to execute the daily tasks. In this study, a robot arm based on the simplified model of Tondus where the clavicular motion is excluded as shown in Fig. 2. The human shoulder can be treated as a ball-and-socket joint. It is not easy to drive a link through a ball-and-socket joint powerfully and precisely. In general, the robot shoulder is modelled as a combination of universal joint and revolute joint. The human elbow is undoubtedly a revolute joint to perform the flexion and extension motion between the humerus and the radial. The related motion between the radial and the ulnar could be modelled as a revolute joint. The human wrist is a typical universal joint. In this study, the robot wrist is modelled as a single revolute joint with consideration of a limited placement space of driving module due to the appearance of robot arm. The robot hand is modelled as a 4 D.O.F. hand for grasping some domestic objects. On the whole, the robot manipulator included a 6D.O.F. arm and a 4 D.O.F. hand is presented in this paper. The active ranges of human arm and the presented robot arm are compared in Table 1. The length and weight of robot manipulator design are referred to the statistic of human arm from the Institute of Occupational Safety and Health in Taiwan 13. For an adult male of 170 cm, the average arm length is 75.82 cm and the average arm weight beyond the shoulder is 4.01 kg. The appearance design of robot manipulator is attempted to approach the specification of human arm.Fig. 2. Kinematic model of the human arm 12.Table 1. The comparison of human arm and robot armMotionHuman arm(Degree)Robot arm(Degree)Humeral AB/AD q1-401801090Humeral Flex/Ext q2-40180-100190Humeral ext/int Rotation q3-3090-4590Elbow Flex/Ext q401400120Radial-Ulnar Pron/Sup q5-8080-9090Wrist Flex/Ext q6-6060060Wrist AB/AD q7-3535-3. MECHANICAL DESIGN OF ROBOT MANIPULATORThe goals of the robot manipulator are to approach the human arm and grasp some domestic objects below the weight of 1.5 kg. By considering both of the appearance of the robot manipulator and its performance, the slender shaped DC motors are suitable for the robot manipulator. In this study, Faulhaber DC micro-motors, speed reducers, encoders and controllers are selected to compose the driving modules as listed in Table 2. IE2-512 encoders and MCDC 3003/6C controllers are selected for a precise and high bandwidth control system.Table 2. Motor sets for the robot manipulatorMotorSpeed Reducer(Type, Gear Ratio)Motor Set #13863A024C38/2, 246:1Motor Set #23863A024C38/2, 134:1Motor Set #3 & #42657W024CR30/1, 246:1Motor Set #52342W024CR23/1, 246:1Motor Set #62224U024S20/1, 159:1Motor Set #7#101717T024SR15A, 369:13.1 Shoulder MechanismThe shoulder structure as shown in Fig. 3 consists of two motor sets. The motor set #1 provides the power for abduction-adduction motion of the shoulder mechanism. A couple of bevel gears are used to transmit the power to the upper arm. There is no home sensor used in this design. Two blocks are adopted to restrict the motion of the abduction- adduction of the shoulder. Integrating the encoder information and the over-current detection, the home position can be recorded as the reference when the robot manipulator touches the mechanical limit.The motor set #2 is adopted to control the flexion- extension motion of the shoulder mechanism. This motion usually needs to take larger loads, so a belt transmission mechanism is used to amplify the output torque of motor set #2. Also, a speed reducer of lower gear ratio is selected to retrieve to the lost speed reduced by the belt mechanism. There is a salient on the sleeve of motor set #1 to restrict the flexion-extension motion of the shoulder as shown in Fig. 4. A similar method to find the home position is used as mentioned above. Combing the motor sets #1 and #2, the shoulder mechanism can provide a torque output more than 30 Nm and an angularvelocity up to 120 deg/s. Thus the shoulder can take the self- weight of the whole arm and the domestic object of 1.5 kg.Fig. 3. The mechanical design of the shoulder mechanism.Fig. 4. The mechanical limit of flexion-extension of the shoulder.3.2 Upper Arm MechanismThe driving unit for the external-internal rotation of the shoulder is placed at the upper arm. As shown in Fig. 5, the axle of the upper arm, the external-internal rotation of the shoulder, is transmitted by the motor set #3 by a belt transmission mechanism. Also, a curved slot as shown in Fig. 6 is designed in the bearing housing to restrict the external- internal rotation of the shoulder.The motor set #4 is installed in the axle of the upper arm to control the flexion-extension motion of the elbow by a couple of bevel gears. Also, two blocks are used to restrict the flexion-extension motion of the elbow. The controllers of the two mentioned motor sets are set beside of the upper arm. Thus, the problem of signal decay can be avoided. With this design, the elbow can provide a torque output more than 6 Nm and an angular velocity up to 150 deg/s. Thus the elbow can take the self-weight of the forearm and the domestic object of 1.5 kg.3.3 Forearm MechanismBased on the same concept of the upper arm mechanism, the mechanical design of the forearm is shown in Fig. 7. The motor set #5 is applied to control the pronation-supination of the forearm by a belt transmission mechanism. Also, a curved slot is built in the bearing housing to restrict the pronation- supination motion of the radial-ulnar link.The motor set #6 is mounted on the forearm to perform the flexion-extension motion of the wrist by a couple of bevel gears. Also, two blocks are used to restrict the flexion- extension motion of the wrist. With this design, the wrist can provide a torque output more than 0.7 Nm and an angular velocity up to 180 deg/s. Thus the wrist can take the self- weight of the hand and the domestic object of 1.5 kg.Fig. 5. The upper arm mechanism.Fig. 6. The mechanical limit design of external-internal rotation of the shoulder.Fig. 7. The forearm mechanism.3.4 Hand MechanismTo take both economization of the actuators and the grasping functionality into consideration, a cable driven robot hand as shown in Fig. 8 is presented. Four motor sets are adopted to control all the motions of robot hand. (1) The motion between the thumb finger and the palm is actuated by motor set #7 via a four bar linkage mechanism. The thumb and motor set#8 are simultaneously rotated by motor set#7 in a range of 0 to 90 degree. (2) The thumb finger is driven by motor set #8 with two cables which controlled spread and shut motions of each knuckle, respectively. In this design, most of the transmission components are small, and so the fishing line of 0.5 mm diameter is used to transmit the power instead of steel wire. Since the fishing lines will be fatigued and elongated after long time usage, two cable tension adjusters are used to keep the fishing lines with appropriate tightness 14. (3) The index finger and the middle finger are driven synchronously by motor set #9 with two cables. A guiding mechanism is used to connect two fingers and to change the direction of cables. (4) The middle finger and the little finger are actuated by motor set #10. There are three knuckles in each finger. The rotating angle of each knuckle is up to 90 degree and will automatically adjust according to the shape of the object when grasping. With this design, the robot hand can grasp the object up to 1.5 kg.Fig. 8. The hand mechanism.3.5 Complete Robot Manipulator MechanismThe complete model of robot manipulator is shown in Fig. 9. The robot manipulator could grasp and lift a 1.2 kg object under the maximum operating parameters.4. KINEMATIC ANALYSIS OF ROBOT MANIPULATORThe kinematics of the robot manipulator is analyzed by using Denavit-Hartenberg method. The coordinate systems of the robot manipulator are established as shown in Fig. 10. The corresponding Denavit-Hartenberg parameters are listed in Table 3. The frames 0 to 5 define the joints of the robot manipulator mentioned in the previous section. The frame 6 defines the posture of the robot hand. The x and y axes are in the direction of the index finger and palm, respectively.Fig. 9. The complete model of ITRI robot manipulator.Fig. 10. D-H model of ITRI robot manipulator.Table 3. D-H parameters of Roppies right manipulatorai(rad)ai(mm)di(mm)qi(rad)Link 1-p / 200q1Link 2-p / 20-14.5q + p / 22Link 3-p / 20302q + p / 23Link 4p / 20-2q4Link 5-p / 20298.5q5Link 601000q - p / 26Thus, the forward and inverse kinematics can be derived. The transformation betw- 配套讲稿:
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