机器人机构奇异裕度与运动副间隙形态裕度的度量理论、方法及应用研究

项目名称： 机器人机构奇异裕度与运动副间隙形态裕度的度量理论、方法及应用研究

项目编号： No.51475331

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 卜王辉

作者单位： 同济大学

项目金额： 80万元

中文摘要： 机器人应用日益广泛，人们期望机器人能够以灵巧的姿态完成精细的任务。机器人灵巧性与机构距离奇异位姿的程度有关，而机器人执行任务的精度与运动副间隙形态有关。本课题把机器人当前位姿与奇异位姿之间的变动量定义为机构奇异裕度，提出基于螺旋系子流形夹角投影的机器人机构奇异裕度的度量方法，解决相似机构不能获得相同奇异裕度值，以及由于量纲不一致产生的奇异裕度指标物理意义不明确的问题。度量机构奇异裕度为机器人高灵巧度轨迹规划提供指导。本课题把运动副当前间隙形态与机器精度即将丧失或动态性能即将退化时的间隙形态之间的变动量定义为间隙形态裕度，提出综合考虑间隙大小和间隙形状的运动副间隙形态裕度的度量方法，解决运动副磨损导致间隙形状改变，或精密齿轮副非均匀分布间隙，对机器整体精度和动态性能影响的问题。度量间隙形态裕度为运动副的初始公差和磨损许用量提供理论依据，为机器人驱动关节精密减速器的齿廓间隙分布提供设计指导。

中文关键词： 机器人；机构学；间隙；奇异；度量

英文摘要： Robots have been applied widely, and they are desired to perform delicate tasks with dexterous poses. The robotic dexterity is relative to the closeness to singularities, and the robotic precision depends on the joint clearances. In this research, the distance between the robot current pose and the singular pose is defined as the singularity margin of a robotic mechanism. The metric of the singularity margin is established based on the angle projection of screw submanifolds, which may solve the problem that similar mechanisms could not get the identical metric values, and also may solve the problem that the existing metrics lack physical meanings due to the different dimensions. The metric of the singularity margin can be applied to the robot dexterous trajectory planning. In this research, the distance between the clearance current morphology and the morphology where the precision or dynamic performance is about to lose is defined as the clearance morphology allowance. The metric of the joint clearance morphology allowance is established under the consideration of both clearance sizes and clearance shapes, which may solve the problem of the degeneration of machine precision or dynamic performance caused by the change of clearance sizes due to abrasion or caused by the nonuniform clearances of gear pairs. The metric of the morphology allowance can be applied to the calculation of initial tolerance and allowable abrasion of joint elements, and can provide the design guidance to the nonuniform clearances of precise gear pairs.

英文关键词： Robot;Mechanism;Clearance;Singularity;Metric