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引用次数: 0
摘要
研制了一种面向人形机器人的垂直相交双轴模块化作动器系统。DAMA由两个独立的关节系统组成，关节01和关节02。接头01采用谐波传动，接头02采用电缆传动。通过ADMAS和MATLAB软件包的仿真，可以观察到系统的动态特性。利用有限元分析进一步细化了系统结构。此外，还开发了DAMA的硬件和软件控制系统。硬件架构由笔记本电脑、USB转RS-232模块、RS-232转CAN总线模块和两个独立的联合控制器模块组成。软件控制系统(用户界面)由Visual c++ 2005编写，使用户能够轻松地操作两轴机器人。该系统采用一种简单而有效的PID方案对DAMA的两个关节进行独立控制。实验结果表明，对于S曲线输入的位置指令，DAMA的两个独立关节能够很好地旋转并跟踪指令。因此，DAMA可以作为多自由度系统的通用模块。
A Vertically Intersected Dual Axes Modularized Actuator System (DAMA)
A Vertically Intersected Dual Axes Modularized Actuator System (DAMA) designed for humanoid robots is developed in this paper. The DAMA consists of two independent joint systems, joint 01 and joint02. Joint 01 uses a harmonic drive while joint02 uses a cable arrangement. Based on the simulations of ADMAS and MATLAB software packages, the system dynamic properties can be observed. The system structure is further refined using finite element analysis. In addition, the hardware and software control systems of DAMA are developed. The architecture of hardware is composed of notebook computer, a USB to RS-232 module, an RS-232 to CAN Bus Module and two independent-joint controller modules. The software control system (user interface) is written by Visual C++ 2005 to enable users to manipulate a two-axial robot easily. The system employs a simple, but effective, PID scheme to independently control the DAMA's two joints. The experimental result shows that, for an S curve input position command, the DAMA's two independent joints rotate and track the command well. Hence, DAMA can be used as a generic module for a multiple degree-of-freedom system.
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