諧波減速機之特性分析及其應用

Characteristic Analysis of Harmonic Drive and its Application

李冠璋(Guan-Zhang Li)

指導教授 ： 林峻永

國立臺灣大學/工學院/機械工程學研究所/碩士(2020年)

https://doi.org/10.6342/NTU202002255

摘要

本論文之主要三個目標，首先驗證磁滯模型的準確性，再來降低摩擦磁滯，最後使用阻抗控制實現人機互動，在阻抗控制應用中比較力感測器回授和估測柔輪扭矩回授的結果。
諧波減速機被馬達驅動而運轉時扭轉角和柔輪扭矩的關係為非線性即為磁滯，應用精準的扭轉角和柔輪扭矩磁滯模型。有了磁滯模型可使用前饋控制來降低磁滯所造成的誤差。在扭轉角和柔輪扭矩磁滯模型中，可藉由扭轉角和柔輪扭矩的關係由扭轉角估測柔輪扭矩。力量控制在機械手臂於人機互動應用上為重要的，所以在人機互動中機器人在位置控制模式下也能夠達到力量控制的要求，阻抗控制為同時控制位置和力量。本論文推導出諧波減速機動力學方程式後應用於阻抗控制，藉由虛擬彈簧和虛擬阻尼修正外力所造成的位置誤差。
本研究參考諧波減速機的柔性模型，以模擬和實驗方式來驗證模型正確性；接著採用前饋回授控制的方式降低磁滯對系統的影響；最後應用阻抗控制，藉由改變虛擬彈簧觀察順應性的結果，比較阻抗控制中力量回授訊號由扭矩控制器回授和估測柔輪扭矩回授對諧波減速機輸出端角度的響應結果比較。

關鍵字

諧波減速機 ； 柔性模型 ； 阻抗控制

並列摘要

There are three main goals of this paper. First, the accuracy of the hysteresis model is verified, then the frictional hysteresis of harmonic drive is reduced, and finally using impedance control achieve human-machine interaction. In impedance control applications, the results of the force sensor feedback and the estimated Flex Spline torque feedback are compared. When the harmonic drive is driven by motor, the relationship between the torsion angle and the Flex Spline torque is nonlinear, that is, the hysteresis, and accurate torsion angle and Flex Spline torque hysteresis models are required. This paper uses a flexible model and feedforward feedback control to reduce the errors caused by hysteresis. In the torsion angle and Flex Spline torque hysteresis model, the Flex Spline torque can be estimated from the torsion angle. Force control is important in the application of mechanical arms to human-machine interaction, so the robot may satisfy the requirements of force control in position control mode in human-machine interaction. Impedance control controls both position and force. The dynamic equation of the harmonic drive is derived and applied to impedance control, and the position error caused by external force is corrected by virtual spring and virtual damping. This paper refers to the flexible model of the harmonic drives, and uses simulation and experiment to verify the accuracy of the mode. Then, use feedforward control to reduce the impact of hysteresis on the system. Finally applies harmonic drives to impedance control by changing the virtual spring to observe the result of compliance, and compare the difference between the force feedback signal in the impedance control by the torque sensor reading and the estimated Flex Spline torque.

並列關鍵字

Harmonic Drive ； Flexible Model ； Impedance Control

參考文獻

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