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为解决运动目标捕获过程中的碰撞问题,采用欠驱动自适应原理研制了具有碰撞能量吸收能力的机械臂。三自由度的机械臂由2个电机驱动:基关节由单个电机驱动;中关节和末关节由一个单输入双输出行星轮组完成动力分配。在机械臂捕获运动目标过程中,碰撞产生的部分冲击能量通过欠驱动行星轮组传递到末关节,转化为关节动能。依靠欠驱动机械系统完成对碰撞的响应,解决了控制系统因时延而无法快速对碰撞进行响应的难题。为完成对目标的抓取,基于阻抗控制提出了机械臂运动目标捕获控制算法。运动目标捕获实验验证了机械臂对碰撞的快速响应能力及运动目标捕获控制算法的可行性。
In order to solve the collision problem during the capture of moving target, a manipulator with collision energy absorption capability was developed by using the under-actuated adaptive principle. The three-degree-of-freedom arm is driven by two motors: the base joint is driven by a single motor; the middle joint and the final joint are powered by a single-input dual-output planetary gear set. During the capture of the moving target by the manipulator, part of the impact energy generated by the collision is transmitted to the distal joint through the under-driven planetary gear set and converted into kinetic energy of the joint. Relying on under-actuated mechanical system to complete the response to the collision and solve the problem that the control system can not respond quickly to the collision due to the delay. In order to accomplish the target acquisition, a control algorithm of moving target acquisition based on impedance control is proposed. The moving target capture experiment verifies the feasibility of the manipulator on the rapid response of the collision and the moving target acquisition control algorithm.