Implementation of a Flexible Robotic Joint with a Tendon-driven Rotary Actuator

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研究生：	何忠漢 Prasetya - Hutomo Winnyarto Sulaksono
論文名稱：	Implementation of a Flexible Robotic Joint with a Tendon-driven Rotary Actuator Implementation of a Flexible Robotic Joint with a Tendon-driven Rotary Actuator
指導教授：	郭重顯 Chung-Hsien Kuo
口試委員:	Shun-Feng Su Shun-Feng Su Chyi-Yeu Lin Chyi-Yeu Lin Shih-Hsuan Chiu Shih-Hsuan Chiu
學位類別：	碩士 Master
系所名稱：	電資學院 - 電機工程系 Department of Electrical Engineering
論文出版年：	2013
畢業學年度：	101
語文別：	英文
論文頁數：	96
中文關鍵詞：	flexible robotic joint 、tendon-driven rotary actuator 、force-sensor-less 、system-on-a-programmable-chip 、field programming gate array
外文關鍵詞：	flexible robotic joint, tendon-driven rotary actuator, force-sensor-less, system-on-a-programmable-chip, field programming gate array
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In the last decade, robotics is one of important solutions in healthcare applications. Robotic manipulators with tendon-driven configurations usually use as solutions in biomedical fields. Therefore, this work presents the mechanical design and control schemes for a flexible robotic joint with tendon-driven rotary actuator techniques. The flexible tendon-driven rotary actuator consists of 2 brushless DC (BLDC) motors which are connected by using a pair of steel wires and a rotary joint. The force-sensor-less method is applied to measure the cable tension which is calculated from the relative displacement between the motor and rotary movements. With considering the controls of a pair of cables’ tensions, position and compliance control schemes can be achieved. Practically, the flexible robotic joint controller is implemented by using system-on-a-programmable-chip (SoPC) techniques to realize hardware/ software co-design approaches based on a field programming gate array (FPGA) architecture. Finally, a test platform containing a mechanical platform and a FPGA-based control system was made in this work, and the experiments for the control schemes of tension, position and position with compliance were discussed to verify the idea of tendon-driven rotary actuator design.

ABSTRACT ............................................................................................................ i
ACKNOWLEDGEMENT ..................................................................................... ii
CONTENTS .......................................................................................................... iii
LIST OF TABLES ................................................................................................. v
LIST OF FIGURES .............................................................................................. vi
CHAPTER 1. INTRODUCTION .......................................................................... 1
1. Background of research ................................................................. 1
2. Objectives of Research.................................................................... 2
3. Thesis Structure .............................................................................. 2
CHAPTER 2. LITERATURE REVIEWS ............................................................. 4
1. Healthcare robots ............................................................................ 4
1.1. Exoskeletons ...................................................................... 4
1.2. Surgery Robot .................................................................... 5
2. Flexible Robotic Joint ..................................................................... 6
3. Compliance and Position Control ................................................ 10
CHAPTER 3. FUNDAMENTAL TECHNOLOGY............................................. 13
1. Brushless DC Motor ..................................................................... 13
1.1. Stator ................................................................................ 13
1.2. Rotor ................................................................................. 14
1.3. Rotor Position Sensor ....................................................... 15
1.4. Torque/Speed Characteristics ........................................... 15
1.5. Mathematical Modeling ................................................... 16
1.6. Trapezoidal Back EMF .................................................... 18
1.7. Encoder Pulse Sequence .................................................. 21
2. Load Cell....................................................................................... 22
3. FPGA ............................................................................................ 23
3.1. Programmable Logic ........................................................ 24
iv
3.2. Programmable Interconnect ............................................. 24
3.3. Programmable I/O ............................................................ 25
4. PID Controller .............................................................................. 26
4.1. Proportional Term ............................................................ 28
4.2. Integral Term .................................................................... 28
4.3. Derivative Term ................................................................ 29
4.4. Manual Tuning ................................................................. 29
CHAPTER 4. DESIGN OF FLEXIBLE ROBOTIC JOINTS.............................. 31
1. Design Concept ............................................................................ 31
2. Mechanical Design ....................................................................... 32
3. Electrical Board Design ................................................................ 34
4. FPGA Design ............................................................................... 36
4.1. Software Design ............................................................... 37
4.2. Filter Module .................................................................... 40
4.3. ENC Module .................................................................... 42
4.4. PWM Module ................................................................... 46
CHAPTER 5. DESIGN AND SIMULATION OF CONTROL SYSTEM ......... 48
1. Single Tension Open Loop Model and Simulation ...................... 48
2. Single Tension Close Loop Model ............................................... 52
3. Dual Tension Open Loop Control Model and Simulation ........... 55
4. Position compliance close loop control model and simulation .... 59
CHAPTER 6. MEASUREMENT ........................................................................ 64
1. Degree Measurement .................................................................... 64
2. Spring Constant Measurement ..................................................... 65
3. Force Control Measurement ......................................................... 65
3.1. Compliance Control Force Measurement.......................... 66
3.2. Position Compliance Control ............................................ 68
4. Position Control Measurement ...................................................... 72
5. Learning Experiment ..................................................................... 76
CHAPTER 7. CONCLUSION AND FUTURE WORKS.................................... 78
1. Conclusion .................................................................................... 78
v
2. Future Works ................................................................................ 79
REFERENCES ..................................................................................................... 80

                                

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全文公開日期 2018/02/06 (校內網路)
全文公開日期本全文未授權公開 (校外網路)
全文公開日期本全文未授權公開 (國家圖書館：臺灣博碩士論文系統)

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