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研究生： 尤應龍
Yu, Ying-Lung
論文名稱： 開發微型串聯彈性致動器於遠端操作機器人的精準力感知與控制
Design of a Miniature Series Elastic Actuator for Bilateral Teleoperations Requiring Accurate Torque Sensing and Control
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： 2018
畢業學年度： 107
語文別： 中文
論文頁數： 156
中文關鍵詞： 串聯彈性致動器 、平面彈簧 、雙向控制 、主從控制 、阻抗控制器
外文關鍵詞： Series elastic actuator, impedance control, elastic spring, torque and stiffness control, bilateral teleoperation, haptics feedback
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    • 本文開發一使用旋轉串聯彈性致動器進行雙向力回饋控制之遠端操作機器人。與剛性致動器相比，旋轉串聯彈性致動器可達到更精準的輸出扭矩及勁度控制，因此更適合應用於藉由真實或虛擬阻抗以安全進行人機互動之機器。現存之旋轉串聯彈性致動器大多體積龐大且不適用於多自由度之應用，為了發掘旋轉串聯彈性致動器之優勢於雙向力回饋控制，本文所提出之微型旋轉串聯彈性致動器設計在藉由平面彈簧最小化機構尺寸的同時，仍可達到精準之輸出扭矩及勁度控制，在阻抗控制實驗上之成果均較現存之旋轉串聯彈性致動器表現好。
    本文之遠端操作機器人為基於旋轉串聯彈性致動器及串集式阻抗控制器上進行設計，因此本文針對此兩部分進行機構設計及分析，首先對撓性元件進行分析，設計出一同時達到順時針及逆時針旋轉方向勁度相同及變形範圍大之撓性元件，接著設計馬達驅動與感測電路及控制系統軟硬體架構，使旋轉串聯彈性致動器能夠結合嵌入式控制器以電腦進行控制。並建立旋轉串聯彈性致動器之模型，以串集式阻抗控制器進行控制，利用商用軟體MATLAB®中的Simulink®建立模擬模型，使本文能夠同時利用實驗及模擬方法驗證旋轉串聯彈性致動器阻抗控制性能。最後將此成果運用於遠端操作機器人中達成雙向力回饋控制，使之能夠與不同軟硬度之環境互動。

    Compared with stiff actuators, series elastic actuators (SEAs) can render more accurate output torque and stiffness. Hence SEAs are suitable for robots that need to interact safely with human or properly with the actual or virtual environment. Many existing rotary SEAs are bulky and not suitable for multiple-degree-of-freedom (DoF) applications. To explore the merits of SEAs in bilateral teleoperations that often require multiple-DoF force feedback, this paper presents a miniature rotary SEA. By using a specifically designed planar spring, the size of the SEA can be minimized while the output torque and stiffness can still be accurately controlled. Dynamic modeling and impedance control experiments show that the torque and stiffness rendering results are better than those of existing SEAs. A master-slave robot system using the proposed SEA demonstrates that both stiff and soft remote environments can be virtually realized. We expect that this miniature SEA can serve as an alternative actuator for robotic teleoperations requiring accurate torque sensing and control.

    摘要 I English Abstract II 致謝 XI 目錄 XII 表目錄 XVI 圖目錄 XIX 符號說明 XXV 第一章 緒論 1 1.1 背景介紹 1 1.2 文獻回顧 4 1.2.1 旋轉串聯彈性致動器 4 1.2.2 撓性元件構形 8 1.2.3 雙向力回饋控制研究回顧 11 1.3 研究動機與目標 13 1.4 論文架構 14 第二章 機構設計概念 15 2.1 前言 15 2.2 旋轉串聯彈性致動器 15 2.3 撓性元件構形演變 16 2.3.1 第一型撓形元件之設計概念 17 2.3.2 第二型撓性元件之設計概念 18 2.3.3 第三型撓性元件之設計概念 19 2.4 撓性元件各參數影響分析 20 2.4.1 撓性桿數量影響分析 20 2.4.2 入平面厚度影響分析 21 2.4.3 勁度與撓性元件各參數影響分析 24 2.5 撓性元件勁度校正實驗 25 2.5.1 以荷重元進行勁度校正實驗 25 2.5.2 以扭力計進行勁度校正實驗 26 2.5.3 勁度實驗結果 29 2.6 本章小結 30 第三章 旋轉串聯彈性致動器驅動與建模 31 3.1 前言 31 3.2 旋轉串聯彈性致動器驅動方式 31 3.2.1 軟硬體配置 31 3.2.2 馬達驅動公式推導 33 3.2.3 馬達驅動電路與參數鑑別 35 3.2.4 磁性編碼器校正 39 3.3 旋轉串聯彈性致動器模型 40 3.3.1 時域模型 40 3.3.2 頻率域模型 42 3.3.3 致動器系統鑑別 44 3.3.4 電路飽和模型 46 3.4 扭矩控制器設計 47 3.4.1 扭矩控制模型 48 3.4.2 扭矩控制器穩定性分析 49 3.4.3 扭矩控制模擬模型之建立 50 3.4.4 扭矩控制器增益最佳化 52 3.5 串集式阻抗控制器設計 55 3.5.1 串集式阻抗控制器模型 56 3.5.2 串集式阻抗控制器穩定性分析 57 3.5.3 串集式阻抗控制器穩態誤差分析 64 3.5.4 串集式阻抗控制模擬模型之建立 65 3.6 本章小結 68 第四章 控制器性能分析與實驗驗證 69 4.1 前言 69 4.2 扭矩控制器性能驗證 69 4.2.1 步階扭矩命令實驗結果 69 4.2.2 弦波扭矩命令實驗結果 70 4.2.3 調頻扭矩命令實驗結果 71 4.3 串集式阻抗控制器零阻抗控制實驗 72 4.3.1 零阻抗控制實驗配置及模擬模型 73 4.3.2 零阻抗控制實驗驗證 74 4.3.3 零阻抗控制頻寬分析 77 4.4 串集式阻抗控制器虛擬阻抗追蹤實驗 78 4.4.1 虛擬阻抗自然振動時域響應 78 4.4.2 純勁度追蹤實驗驗證 81 4.4.3 虛擬阻抗追蹤實驗驗證 83 4.4.4 虛擬勁度轉換公式 85 4.5 串集式阻抗控制器位置追蹤實驗 86 4.5.1 機械共振頻率 86 4.5.2 穩定性分析驗證 89 4.5.3 位置追蹤實驗結果 91 4.5.4 位置追蹤頻寬分析 93 4.6 本章小結 94 第五章 雙向力回饋控制 95 5.1 前言 95 5.2 遠端操作機器人 95 5.2.1 遠端操作機器人概念 95 5.2.2 遠端操作機器人模型 96 5.3 雙向力回饋控制器設計 97 5.3.1 一般式阻抗控制器 98 5.3.2 串集式阻抗控制器 99 5.3.3 遠端操作機器人穩定性分析 100 5.4 雙向力回饋控制性能分析與驗證 103 5.4.1 從端機器人位置追蹤實驗驗證 103 5.4.2 主端機器人力回饋實驗驗證 105 5.4.3 軟硬物體碰觸之力回饋實驗驗證 108 5.5 本章小結 114 第六章 結論與未來工作 116 6.1 結論 116 6.2 未來工作 118 參考文獻 120

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