6-SPU并联机器人的轨迹规划与仿真
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摘要
针对航空制造领域中对飞机机翼等大型工件的高加工精度、高生产效率等要求。首先,通过螺旋理论对6-SPU并联机器人进行了机构自由度的分析,并根据弗莱纳-雪列空间三元矢量原理以及并联机构的逆运动学求解方法,对6-SPU并联机构动平台的运动规划进行了分析和研究,得到机构动平台在加工过程中的相应位姿。然后,利用齐次坐标变换矩阵和逆解运算公式进一步确定6-SPU并联机构动平台上末端执行器按照预期运动轨迹移动时在驱动副上所施加的驱动运动规律。最后,借助三维软件SolidWorks及MATLAB中Simulink仿真模块进行建模仿真,进而验证了对并联机构运动轨迹规划的可行性,为移动式并联加工平台的工程设计提供理论基础。
Aiming at the requirements of high machining accuracy and high production efficiency for large workpieces such as aircraft wings in the field of aviation manufacturing. Firstly, the degree of freedom of 6-SPU parallel robot is analyzed by using screw theory, and the trajectory planning of moving platform of the 6-SPU parallel mechanism is analyzed and studied based on the inverse kinematics method and three element space vector according to the Frenet-Serret, the movement platform corresponding position and gesture in the processing process is got. Then, the homogeneous coordinate transformation matrix and the inverse solution calculation formula are used to further determine the movement rules exerted on the end actuator when it is moving on the desired trajectory. Finally, the virtual model of this mechanism is created in SolidWorks software and the planning trajectory is verified through simulation in Simulink simulation module in MATLAB modeling simulation, and the theoretical foundation for the engineering design of mobile parallel processing platform is provided.
Aiming at the requirements of high machining accuracy and high production efficiency for large workpieces such as aircraft wings in the field of aviation manufacturing. Firstly, the degree of freedom of 6-SPU parallel robot is analyzed by using screw theory, and the trajectory planning of moving platform of the 6-SPU parallel mechanism is analyzed and studied based on the inverse kinematics method and three element space vector according to the Frenet-Serret, the movement platform corresponding position and gesture in the processing process is got. Then, the homogeneous coordinate transformation matrix and the inverse solution calculation formula are used to further determine the movement rules exerted on the end actuator when it is moving on the desired trajectory. Finally, the virtual model of this mechanism is created in SolidWorks software and the planning trajectory is verified through simulation in Simulink simulation module in MATLAB modeling simulation, and the theoretical foundation for the engineering design of mobile parallel processing platform is provided.
引文
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[19]黄鹏,王青,李江雄,等.基于动力学模型的飞机大部件调姿轨迹规划方法[J].航空学报,2014,35(9):2672-2682.
[20]孔祥庆.空间曲线弧长一般求长法[J].南方冶金学院学报,2001,22(4):290-292.
[21]郭宗和,李连升,孙术华. 3-RPC并联机器人的运动轨迹规划与仿真[J].机械工程,2007,18(9):1036-1038.
[2]陈伟华.工业机器人笛卡尔空间轨迹规划的研究[D].广州:华南理工大学,2010:28-30.
[3]彭南华.经济型喷漆机器人轨迹规划及关节控制研究[D].长沙:中南大学,2009:39-49.
[4]雷超.一种3自由度自动钻铆机构的运动学分析与优化设计[D].秦皇岛:燕山大学,2013:1.
[5]郭盛,孙振瑶,曲海波.基于支链构造法的新型6-DOF并联机构构型设计[J].机械工程学报,2015,51(17):35-42.
[6]刘文彩,许勇,陈佳丽,等.基于6-SPU并联机构的飞机壁板铆接机器人逆运动学分析[J].机械设计与研究,2018,34(2):76-80.
[7]张立杰,雷超,郭菲,等.一种3-RPS并联平台机构偏转能力的分析[J].燕山大学学报,2012,36(3):196-200.
[8]孟道骥,梁科.微分几何[M].北京:科学出版社,2008:37-48.
[9]黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006:59-63,91-94.
[10] YANG H,KRUT S,BARADAT C,et al. A new concept of self-reconfigurable mobile machining centers[C]//Proceeding of the 2010IEEE/RSJ International Conference on Intelligent Robots&Systems October 18-22,2010,Taipei,Taiwan,China. New York:IEEE,2010:2784-2791.
[11] YANG H,KRUT S,BARADAT C,et al. Locomotion approach of REMORA:a reconfigurable mobile robot for manufacturing applications[C]//Proceeding of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems,September 25-30,2011,San Francisco,CA,USA. New York:IEEE,2011:5067-5072.
[12]邹冀华,周万勇,韩先国.飞机装配中基于3-RPS的并联机构法向调姿算法[J].农业机械学报,2007,38(9):126-129.
[13] YANG P,GAO F. A new six-parallel-legged walking robot for drilling holes on the fuselage[J]. Journal of Mechanical Engineering Science,2014,228(4):753-764.
[14]许勇.阀体密封面自动焊接系统方案设计[J].上海交通大学学报,2016,50(9):1444-1451.
[15] YANG H,BARADAT C,KRUT S,et al. An agile manufacturing system for large workspace applications[J]. International Journal of Advanced Manufacturing Technology,2016,85(1/2/3/4):25-35.
[16]曾翠华,张纯忠,杨军.基于弗莱纳-雪列空间矢量的焊接离线编程路径规划[J].焊接设备与材料,2011,36(7):44-49.
[17]应灿.焊接机器人工作站协同运动的轨迹优化研究[D].广州:华南理工大学,2013:25-33.
[18] MARC G,GOSSELIN C M. Analysis of the wrench-closure workspace of planar parallel cable-dlriven mechanisms[J]. IEEE Transaction on Robotics,2006,22(3):434-445.
[19]黄鹏,王青,李江雄,等.基于动力学模型的飞机大部件调姿轨迹规划方法[J].航空学报,2014,35(9):2672-2682.
[20]孔祥庆.空间曲线弧长一般求长法[J].南方冶金学院学报,2001,22(4):290-292.
[21]郭宗和,李连升,孙术华. 3-RPC并联机器人的运动轨迹规划与仿真[J].机械工程,2007,18(9):1036-1038.