Research On Design Optimization And Control Of Teleoperation Force Feedback Master Manipulator

Manufacturing and processing needs are becoming more and more diversified in the current social background.In the foundry industry,the multi-variety,customized single-piece small-batch production is increasing day by day.However,the grinding of castings in our country,especially the grinding of large castings,is still manual grinding.When grinding the workpiece,a large amount of high-temperature metal powder will be produced,and the working environment of the staff is very difficult.Through remote operation technology,workers can remotely control the polishing robot in the working room,so that workers can avoid close contact with the harsh polishing environment.As an important human-machine interaction equipment in teleoperation system,the performance of master manipulator directly affects the feasibility of the whole system.In this paper,the master manipulator with force feedback is deeply studied,aiming at designing a teleoperation master manipulator with good motion performance and precise force feedback.First of all,the thesis determined the basic configuration of the force feedback master manipulator to be a hinged tandem structure with flexible movement and a large working space in response to the actual needs of grinding and processing.The pose coupling characteristics of the tandem structure are analyzed,and dual parallelograms and passive joints are introduced for pose decoupling.The master manipulator designed in this paper is composed of 6 active joints and 1 passive joint,with a total of 6 degrees of freedom of rotation.The forward and inverse kinematics calculations of the designed master manipulator are carried out,a number of sports performance evaluation indicators based on the Jacobian matrix are analyzed,and a comprehensive performance evaluation indicator is defined.Under the constraints of the master manipulator's work space,The optimization of the bar size is completed by genetic algorithm.Secondly,the paper analyzes several gravity balance schemes that the master manipulator often uses,and chooses the balance weight balance as the gravity balance mode of the master manipulator in this project.The specific weight of the position adjustment mechanism and the attitude adjustment mechanism are calculated by the balance center of mass and Lagrange equation.Then,the relationship between joint driving force and end output force is established by virtual work principle,and the theory foundation of force feedback control is laid down.Finally,the overall control system of the master manipulator is designed,the selection of hardware for each link is completed,the upper computer human-machine interaction program is written,and the prototype of the master manipulator is made for experiment.Three experiments were carried out to prove the kinematics of the master manipulator.It is verified that the gravity balance can be achieved at any position of the master manipulator within the specified range of motion and the effect of gravity balance is good.It is verified that the master manipulator has good force feedback ability and can meet the actual use needs as a whole.