机器人臂万向磁悬浮球形主动关节的关键技术基础研究

The joints' drive and transmission technology is the key point that restricts the overall performance of robots and there hasn't been any reasonable technological solution. The concept of universal maglev spherical active joints for robot arms was proposed studying about the theory of the joints floating and cervical rotating around arbitrary axis. The theory of air-gap kinetic theory was established based on electromagnetism,rotator dynamics and aerodynamics.The model of levitation force and torque with the characteristics of the flow-around boundary layer and the model of the six-degree-of-freedom dynamics combining with robot arms were also established. The systemic precise model was constructed using least squares support vector machine based on finite element method,studying on the dynamic characteristics, such as,air-gap stiffness,levitation force and driving torque, also on the joint stability and dynamic response. Multivariable and nonlinear decoupling control was realized base on inverse fuzzy neural network. The decoupling control for the joints of robot arms and the inner-model closed-loop control thory & implementation with high accuracy and fast response were also obtained. Multi - parameter collaborative simulation and optimization for the structure and the parameters were done based on virtual prototyping technology.The theory & implementation of giro measurement for joint posture and no-displacement / speed sensor's self-test were established. Finally experimental research was conducted by prototyping experimental device was designed and manufactured for the joints of robot arms. This research will provide theoretical support developing the joints of robot arms and high-speed levitation machine,and great significance in improving the performance of multi degree of freedom joints.

关节的驱动与传动技术是制约机器人整体性能的关键环节，目前尚缺乏具有潜力的技术解决方案。项目提出基于机器人臂的万向磁悬浮球形主动关节，研究关节悬浮和绕任意轴定点旋转的机理；基于电磁学、转子动力学及空气动力学创建气隙动力学理论，建立包括绕流边界层特性的悬浮力和力矩模型，结合关节臂的6自由度动力学模型，基于有限元和仿真分析运用最小二乘支持向量机建立系统精确模型，研究气隙刚度、悬浮力及驱动力矩等特性，分析关节稳定性和动态响应性能；基于模糊神经网络逆实现多变量非线性动态解耦，得出机器人臂关节解耦控制及高精度、快速响应的闭环鲁棒控制理论和实现方法；基于虚拟样机技术进行多参数协同仿真和优化设计样机结构及参数；研究关节姿态陀螺检测及无位移/速度传感器自检测的理论和实现方法；设计机器人臂关节的样机实验台进行试验研究。项目研究对机器人关节及高速悬浮机械发展提供理论支持，对改善多自由度关节性能等均具有重要意义。

基于磁悬浮技术、电机技术，提出以感应式球面电机支承并驱动球形转子悬浮和旋转的磁悬浮球形主动关节系统。项目建立了关节转子绕空间定点任意轴旋转的理论机理，推导了关节转子绕定子中心定点旋转的磁场，以实现关节无约束三自由度旋转运动；基于无源被动调谐原理提出了无传感器检测径向悬浮的感应式磁悬浮球形主动关节原理，并以有源主动调节的方法实现混合悬浮控制；建立了感应式磁悬浮球形主动关节的电磁力（矩）、转子动力学、气隙动力学等数学模型并对系统进行了仿真。. 项目基于陀螺仪技术提出了关节球形转子位置姿态的检测原理与方法；建立了关节原系统及基于模糊神经网络控制的逆系统模型，对系统进行解耦控制，设计基于内模控制的闭环系统并进行了系统仿真分析。. 项目基于磁路结构及气隙磁场分布规律，设计出分体式和整体式两种定子结构的感应式磁悬浮球形主动关节，并用有限元对其进行结构和参数优化，完成了样机本体的加工制造，形成了磁悬浮球形主动关节本体结构的设计理论和设计方法；项目基于对感应式磁悬浮球形主动关节的理论分析与计算，设计了磁悬浮球形主动关节控制调节系统硬件及功率驱动电路，构建了感应式磁悬浮球形主动关节实验台，并做了相应的性能实验研究。.通过对感应式磁悬浮球形主动关节系统的研究，培养研究生9人；在国内外学术期刊及会议上发表学术论文23篇，其中SCI收录3篇，EI收录2篇，学术会议论文6篇；获得授权专利18项，其中发明专利4项；扬州市科技进步奖3等奖1项。在成果应用方面，将项目研究取得的有关技术成果应用于电动机、电动汽车及电动螺杆泵等，并获得授权相关发明和实用新型专利超过10项。. 感应式磁悬浮球形主动关节可用于交通、航海及航空航天等各个领域，项目涉及电机及关节技术、转子和气隙动力学，以及综合检测控制理论等，因此项目对电机及机器人关节技术有重要的理论意义；对于机器人关节乃至其它多自由度装置或设备小型化、微型化及空间拓展，以及对于发展精密机械制造等都有重要的科学意义。

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