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研究生： 李昱鋒
Lee, Yu-Feng
論文名稱： 使用串聯彈性驅動於仿人機器手腕之二維扭矩與阻抗控制
Two-dimensional Torque and Impedance Control of a Humanoid Robotic Wrist Using Series Elastic Actuation
指導教授： 藍兆杰
Lan, Chao-Chieh
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2015
畢業學年度： 103
語文別： 中文
論文頁數： 119
中文關鍵詞： 仿人機器手腕 、撓性元件設計 、串聯彈性致動器 、扭矩控制 、阻抗控制
外文關鍵詞： humanoid robotic wrist, compliant component design, series elastic actuator, torque control, impedance control
相關次數： 點閱：88  下載：4 
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    • 本文針對一仿人機器手腕設計控制器以提升此腕機構之人機親合性。腕機構具傾俯(Pitch)及偏擺(Yaw)兩個自由度，有別於傳統機器人使用旋轉馬達及體積大之傳動機構，腕機構使用線性步進馬達作為致動器，搭配導螺桿放大力量輸出，配合曲柄滑塊機構及5R球面機構，使腕機構的尺寸、重量、運動範圍以及扭矩密度皆與人類手腕相近。將平面彈簧取代腕機構中曲柄滑塊的連桿，作為腕機構之撓性耦桿並利用串聯彈性致動器實現二維撓性驅動。相較於剛性致動器，串聯彈性致動器機械阻抗較小，因此具有良好的反向驅動能力、可儲存能量以及高力量控制準確性等優點，且不需力量感測器即可達到力量回授，故常應用於仿生機構、復健機構，以及服務型機器人等領域。
    首先討論步進馬達特性以及控制器硬體性能，探討步進馬達驅動方式並以實驗鑑別馬達參數，接著對腕機構進行運動分析及力量分析，以作為實現腕機構之扭矩與阻抗控制的基礎。腕機構中撓性耦桿之設計為撓性驅動的重要關鍵，針對五直樑平面彈簧進行最佳設計，並透過商用軟體ANSYS進行有限元素分析，得到具抗側向變形之撓性耦桿，並驗證腕機構輸出扭矩與理論值相同。利用撓性驅動針對腕機構設計扭矩控制器，並透過模擬與實驗進行驗證，接著利用扭矩控制器建立腕機構之阻抗控制器並設計實驗進行驗證。本文透過扭矩控制及阻抗控制，期許能提升腕機構與人類或外界環境互動時之親和性，應用於服務型機器人領域。

    It has been a challenge to design a humanoid robots possessing intrinsic compliant actuation, especially for robots required to be manipulated multi-dimensionally. Adapting from human, robotic manipulators with internal mechanical compliance can perform high-quality force/torque control and more safely interact with human. This thesis presents a humanoid robotic wrist whose size, range, and torque density are comparable to those of a human wrist. To achieve two-dimensional compliant actuation, two linear stepper motors with leadscrew transmissions are selected and two internal compliant couplers are proposed. Building a planar spring model and utilizing the optimal design method minilize the maximum stress of compliant coupler. Through slider-crank and spherical mechanisms, the linear elasticity is converted to rotary elasticity to control the pitch and yaw torques at the same time.
    Static model of the compliant wrist is developed to analyze its force performance. Establishing a PD force controller and a modified friction model enhances the ability of force/torque control. The experiments results demonstrate that the wrist can achieve accurate and fast force/torque control. Finally, based on torque controller, an impedance controller is developed. Designing a series of experiments to prove that the wrist can ensure the safety and change the virtual impedance between the end effector and the environment. We expect this novel compliant wrist to serve as an alternative for applications involving human-robot interaction.

    摘要 I 英文延伸摘要 III 致謝 XI 目錄 XIII 表目錄 XVIII 圖目錄 XIX 符號說明 XXV 第一章 緒論 1 1.1 背景介紹 1 1.1.1 人機互動 1 1.1.2 互動控制 3 1.2 文獻回顧 7 1.2.1 串聯彈性致動器之設計 7 1.2.2 串聯彈性致動器之應用 9 1.3 研究動機及目標 12 1.4 論文架構 14 第二章 腕機構驅動與機構 15 2.1 前言 15 2.2 步進馬達 15 2.2.1 馬達與控制器選用 15 2.2.2 馬達驅動公式推導 17 2.3 步進馬達參數鑑別 20 2.3.1 步進馬達驅動與感測電路 21 2.3.2 參數鑑別實驗 22 2.4 撓性腕機構分析 25 2.4.1 馬達位置關係 25 2.4.2 腕機構運動分析 27 2.4.3 腕機構力量分析 30 第三章 撓性耦桿設計與分析 33 3.1 前言 33 3.2 平面彈簧設計程式 34 3.2.1 最佳化模型 35 3.2.2 最佳化結果 38 3.3 平面彈簧線性之有限元素法分析 39 3.3.1 並聯方式選擇 40 3.3.2 平面彈簧設計參數Lx值討論 43 3.3.3 平面彈簧之應力分析 44 3.4 偏擺機構之非線性靜態結構分析 45 3.5 腕機構扭矩實驗 47 3.5.1 腕機構扭矩控制實驗 47 3.5.2 腕機構開迴路扭矩實驗 48 第四章 扭矩控制 51 4.1 前言 51 4.2 串聯彈性致動器 51 4.2.1 公式簡化 52 4.2.2 感測器校正 53 4.3 力量控制器 56 4.3.1 PD力量控制器 56 4.3.2 控制器簡化比較 58 4.4 摩擦力補償 60 4.4.1 摩擦力模型簡介 60 4.4.2 摩擦力方向判定 61 4.4.3 摩擦力鑑別實驗 63 4.5 串聯彈性致動器力量控制 67 4.5.1 控制器濾波 67 4.5.2 摩擦力模型修正 68 4.5.3 控制器增益值討論 70 4.6 腕機構扭矩控制 72 4.6.1 腕機構性能分析 72 4.6.2 耦桿勁度之影響 78 第五章 阻抗控制 81 5.1 前言 81 5.2 腕機構旋轉勁度量測實驗 81 5.3 阻抗控制器 84 5.4 定阻抗控制實驗 90 5.4.1 位置控制實驗 90 5.4.2 勁度控制實驗 91 5.5 變阻抗控制實驗 93 5.5.1 勁度控制實驗之步階響應 93 5.5.2 位置控制接觸力實驗 96 5.5.3 外界干擾實驗 102 第六章 結論與未來工作 105 6.1 結論 105 6.2 未來工作 106 參考文獻 109 著作權 119

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