Research On Cooperation Motion And Cooperation Method Of Humachine Cooperation Manipulator

Technical innovation for production, the improvement in living standards, a growing need for new product, increase in complexity of the product, the life of the product being shortened daily, updating quickly, all of these caused that the middle and small batch of production, even single piece produce ,occupy a more and more important positions. Face to the new situation, the enterprises must have An impressive promotion in flexible manufacturing and production efficiency, shorten the period of production, ensure the quality of product and reduce energy use, so that it can reduce cost of production, receive a better economic performance, and ensure enough ability for competition.Under this situation, the Chinese scientist put forward man-machine integration theories in 1990's. Its core is man as a center, walk man-machine integration technique line. The system is made of man and machine. They complete their job that they are good at lonely. on the foundation of equal cooperation, they can feel, understand and make decision together. They can learn by each other, team work together. So that is super intelligent system. The theories make the system attain the best economic profit and performance.Humachine cooperation manipulator With man-machine integration theories as core can work in non-structure environment, and works according to the person's will. The person is an operator and the manipulator is a actuator. They can work together closely, and also transport goods at a blurry position. Telerobot can also work in the people's will to some extent, but operator and manipulator detach on the space, in addition to the special environment that is harmful to human, it is very difficult to meet the request of modernengineering's efficiency; On the other hand, the design of current industrial robots are mostly according to the customer of need. A certain robot can only work under the special environment, lacking flexible ability.After putting forward the speculation of Humachine cooperation manipulator, the author made reference to many domestic and international papers about robots.Domestic and international technique about robots is already mature, so the problem is Humachine cooperation。The author carried on theories and experiment research to above problem, and take the research that have been done and result of research as follows:1. Designed mechanical construction of Humachine cooperation manipulator. The mechanical construction is polar coordinates robot, include: a joint for circumgyrate, a joint for pitch and a joint for movement. The joint for circumgyrate is used to swing arm from left to right or right to left. The joint for pitch is used to move arm from top to bottom or bottom to top. The joint for movement is used to move arm from front to back or back to front. polar coordinates robot have many advantages, such as small physical volume, structure tightly, the work space is big and can moderate with other robot etc.. The establishment of the machine structure provides theories model and size basis for kinematics algorithm of Humachine cooperation manipulator and enough experience and theories supporting for researching more complicated and many joints robot.2. Research on cooperation motion algorithm of Humachine cooperation manipulator on the foundation of theories model. Solve each joint variety of the manipulator when we have already known the position and pose of the last coordinate. After this through the medium of conservation of energy theory, make out of the dynamics analyseswith lagranges equation . determine know clearly brought manipulator normal working each drove joint required least generalized driving force or moment,for anon manipulator drove do know clearly mathematic matting about manipulator's dynamics proceed know clearly analyses,determine know clearly brought manipulator normal working each drove joint required least generalized driving force or moment,for anon manipulator drove. Yakobi matrix can solve the relationship between speed and acceleration at foundation coordinate system. Researching on the algorithm, it provided a data basis for cooperation motion algorithm of Humachine cooperation manipulator, also provided reference for further research in the future and opened my mind.3. As the important idea of Humachine cooperation, we give its conception and the category it involved(the strength of the force on controlhand and the continuance time of the force). As the follow, we elicit the design project of control switch of Humachine cooperation. Under the project ,we have designed the control electrocircuit, and make the analysis particularly about it. For the sake of validating the dependability and stability, we have do some experimentation to the electrocircuit. Through the comparing the data from experimentation to theoretic analysis, we concluded that in the scope of permission error it is sure to the feasibility of electrocircuit. All the above we have said in this paragraph make the strength base for the designing of controlhand and in/out connection laterly.It becomes true that is the concept of Humachine cooperation manipulator. Not only it can solve the problem that is to move to the target in misty position, but also strengthen its flexibility greatly. Success in Humachine cooperation manipulator solves one of key problems to flexible manufacturing line. In the enterprise, the efficiency of middle or small batch, even single piece, is promoted greatly and the cost reduces.Humachine cooperation manipulator can also be used for other occasions, for example: The cement transports the way of remote control that the car transports piping and adopts now and carry on a control. Because the piping is longer, it isn't easy to accurate control, if we adopt the technology of Humachine cooperation manipulator, the worker can drag piping to anyplace, and the operation will be easy. I believe the technology will be used widely in the future.