在我国铁路范围广、线路长和里程增速快的背景下，基于多人工协同的扣件螺栓养护模式已经难以满足铁路可持续发展需求，自动化扣件螺栓养护成为未来发展重要方向之一。本文针对扣件螺栓养护效率低、养护质量波动大和长期占用大量人力物力资源的问题，提出了一种扣件螺栓维护机器人，完成机器人总体方案设计，重点研究了螺母拆卸器动力学特性和面向扣件组件的机器人手抓取方法，以期为扣件螺栓养护关键技术研究提供必要基础。

根据扣件螺栓养护多工艺和多工序的特点，分析了养护工况条件，划分了扣件螺栓维护机器人功能模块，制定了多机械臂多操作协同策略，建立了扣件螺栓维护机器人三维模型，并基于静力学理论验证了扣件螺栓维护机器人关键零部件机械结构的可靠性。针对扣件组件具备装配关系约束、非规则外轮廓和狭小操作空间的问题，提出了一种用于扣件组件整体抓取的异型两指机器人手，并分析了多个指端与扣件组件接触状态对抓取结果的影响。

针对扣件螺栓维护机器人多操作器联动的复杂性、旋转机械设备多阶模态对操作器精准作业的影响以及扣件组件抓取定量评价指标难以确定的问题，基于D-H法建立扣件螺栓维护机器人的多操作器运动学模型，并对各个操作器的正、逆向运动学求解；根据螺母拆卸器三维模型，建立拆卸器机架无阻尼模态分析模型，研究了螺母拆卸器机架的谐响应特性和瞬态动力学特性，为驱动电机选型提供依据，并进一步通过瞬态动力学分析验证螺母拆卸器结构的可靠性；提出一种基于力封闭的异型两指机器人手抓取方法，研究机器人手有摩擦点接触模型中力平衡与非线性摩擦锥约束下的抓取力求解方法。

为实现扣件螺栓维护机器人自动化养护，提出了扣件螺栓维护机器人控制系统架构并完成驱动电机选型。针对扣件螺栓维护机器人基于视觉定位的多操作器控制需求，分析对比多种进程间通信方法，建立了基于共享内存的定位数据交互策略，并提出了基于状态机的单轴控制方法，为扣件螺栓维护机器人多操作器控制奠定基础。根据异型两指机器人手力封闭抓取特点和变阻抗接触特性，以主动柔顺控制策略为基础，通过仿真分析了阻抗参数对力跟踪的影响，提出了一种模糊自适应阻抗控制方法，优化了异型两指机器人手抓取过程的力跟踪性能。

为验证扣件螺栓维护机器人结构设计、维护方法和控制策略的有效性，搭建了单机械臂实验平台，包含拆卸器、异型两指机器人手和机械臂等组成，分别进行螺母拆卸实验、扣件组件抓取实验和养护效率实验。首先，进一步搭建了拆卸器扭矩测试平台，验证了不同转速下拆卸器峰值输出扭矩，通过多点曲线拟合方法对拆卸器定扭矩输出性能进行改进，实验验证了拆卸器定扭矩输出最大误差，并为螺母预紧提供理论输出范围；其次，通过扣件组件的定性抓取实验，验证了异型手指、手掌和手指开合动作对部分组件的主动包络性能，并由手指接触力监测实验对比分析了主动包络、力封闭和模糊自适应阻抗控制模式下的扣件组件整体抓取成功率。最后，基于单机械臂实验平台测试了螺母拆装和扣件组件整体抓取的效率，并以此估算了扣件螺栓维护机器人整体养护效率。

Under the background of a wide range of railways, long lines and fast mileage growth, bolt maintenance mode based on multi-manual coordination has been difficult to meet the demands of sustainable development of railway, and bolt maintenance of automatic fasteners has become one of the important directions of future development. In this paper, aiming at the problems of low maintenance efficiency of fastener bolt, large fluctuation of maintenance quality and long-term occupation of a lot of human and material resources, a fastener bolt maintenance robot was proposed to complete the overall design of the robot. The dynamic characteristics of the nut disloader and the robot hand grasping method oriented to fastener components were studied in order to provide the necessary basis for the research of key technology of fastener bolt maintenance.

According to the characteristics of multi-process and multi-process of bolt maintenance for fasteners, the maintenance working conditions were analyzed, the functional modules of the fastener bolt maintenance robot were divided, the multi-arm and multi-operation cooperative strategy was developed, the three-dimensional model of the fastener bolt maintenance robot was established, and the reliability of the mechanical structure of the key parts of the fastener bolt maintenance robot was verified based on the static theory. Aiming at the problems that fastener components have assembly relation constraints, irregular contour and narrow operating space, a special two-finger robot hand was proposed for the whole grasping of fastener components, and the influence of contact state between multiple finger ends and fastener components on the grasping results was analyzed.

Aiming at the complexity of multi-operator linkage of fastener bolt maintenance robot, the influence of multi-mode of rotating machinery equipment on the precise operation of the operator and the difficulty in determining the quantitative evaluation index of grasping fastener components, a multi-operator kinematic model of the fastener bolt maintenance robot was established based on D-H method, and the forward and reverse kinematics of each

operator were solved. According to the three-dimensional model of the nut remover, the undamped modal analysis model of the nut remover frame was established, and the harmonic response characteristics and transient dynamics characteristics of the nut remover frame were studied, which provided a basis for the selection of the driving motor, and the reliability of the nut remover structure was verified by the transient dynamics analysis. In this paper, a new grasping method based on force closure for a two-fingered robot hand with a special shape is proposed. The initial grasping effort method is studied under the constraints of force balance and nonlinear friction cone in the friction point contact model of a robot hand.

In order to realize automatic maintenance of fastener bolt maintenance robot, the control system architecture of fastener bolt maintenance robot was proposed and the driving motor selection was completed. Aiming at the requirement of multi-operator control of fastener bolt maintenance robot based on visual positioning, multiple interprocess communication methods were analyzed and compared, a positioning data interaction strategy based on shared memory was established, and a single axis control method based on state was proposed, which laid the foundation for multi-operator control of fastener bolt maintenance robot. Based on the closed grasping characteristics and variable impedance grasping environment of the special-shaped two-fingered robot, the influence of impedance parameters on force tracking was analyzed by simulation based on the active compliance control strategy, and a fuzzy adaptive impedance control method was proposed to optimize the force tracking performance of the special-shaped two-fingered robot during the grasping process.

In order to verify the effectiveness of the structure design, maintenance method and control strategy of the fastener bolted maintenance robot, a single mechanical arm experiment platform was built in this paper, which consisted of the disassembly device, the special shaped two-finger robot hand and the robot arm. The nut disassembly experiment, the fastener assembly grasping experiment and the maintenance efficiency experiment were conducted respectively. Firstly, the disassembly torque test platform was further built to verify the peak output torque of the disassembly at different speeds. The constant torque output performance of the disassembly was improved by multi-point curve fitting method, and the constant torque output performance was tested experimentally to provide a theoretical output range for nut pretightening. Secondly, through qualitative grasping experiments of fastener components, the active envelope performance of some components was verified by opening and closing actions of deformed fingers, palms and fingers. The overall grasping success rate of fastener components under active envelope, force closure and fuzzy adaptive impedance control modes was compared and analyzed by finger contact force monitoring experiments. Finally, based on the experimental platform of single manipulator arm, the efficiency of nut disassembly and overall grasping of fastener assembly was tested, and the overall maintenance efficiency of the fastener bolt maintenance robot was estimated based on this.

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