本文選題：電液混合驅(qū)動(dòng) + 柔索并聯(lián)運(yùn)動(dòng)平臺(tái)�。� 參考：《中國(guó)礦業(yè)大學(xué)》2015年碩士論文

【摘要】：本文依托國(guó)家自然科學(xué)基金“大型重載起重吊裝空間協(xié)作柔索并聯(lián)構(gòu)型裝備機(jī)構(gòu)的動(dòng)態(tài)性能分析與協(xié)調(diào)控制技術(shù)研究(51275515)”項(xiàng)目,針對(duì)一種電液混合驅(qū)動(dòng)柔索并聯(lián)運(yùn)動(dòng)平臺(tái)(EH-CPMP),對(duì)其三維建模、機(jī)構(gòu)運(yùn)動(dòng)學(xué)研究、虛擬樣機(jī)仿真分析、運(yùn)動(dòng)控制系統(tǒng)、安全監(jiān)測(cè)系統(tǒng)以及實(shí)驗(yàn)開(kāi)展等問(wèn)題展開(kāi)研究,本文完成的主要工作歸納如下:(1)對(duì)EH-CPMP平臺(tái)進(jìn)行三維建模,相比傳統(tǒng)的柔索并聯(lián)機(jī)器人,該平臺(tái)具有電液驅(qū)動(dòng)混合式、可重構(gòu)模塊化、塔架高度可調(diào)節(jié)的特點(diǎn),其運(yùn)動(dòng)相對(duì)較復(fù)雜,本文主要考慮六根柔索的運(yùn)動(dòng)形式,進(jìn)而將其簡(jiǎn)化為六電機(jī)協(xié)同工作的并聯(lián)機(jī)構(gòu)模型,并對(duì)其開(kāi)展運(yùn)動(dòng)學(xué)研究,包括運(yùn)動(dòng)學(xué)正解和逆解,分別建立其運(yùn)動(dòng)學(xué)正逆解的求解方法,并且利用MATLAB編程求解其運(yùn)動(dòng)學(xué)正逆解。在運(yùn)動(dòng)學(xué)正解求解上,采用基于數(shù)值的位姿正解求解算法,并在六個(gè)自由度上與期望軌跡進(jìn)行對(duì)比,驗(yàn)證了利用基于數(shù)值的位姿正解求解算法來(lái)求解EH-CPMP平臺(tái)運(yùn)動(dòng)學(xué)正解的可行性。(2)對(duì)簡(jiǎn)化的六電機(jī)協(xié)同工作的并聯(lián)機(jī)構(gòu)模型進(jìn)行虛擬樣機(jī)仿真分析,在ADAMS中建立動(dòng)力學(xué)模型,建模前對(duì)柔索模型進(jìn)行合理的假設(shè),然后對(duì)動(dòng)力學(xué)模型的直線軌跡和圓弧軌跡進(jìn)行求解,從仿真結(jié)果可以看出由于柔索自身存在柔彈性及自重等原因,導(dǎo)致末端執(zhí)行器的運(yùn)動(dòng)軌跡與期望軌跡存在一定成都的偏差。(3)對(duì)EH-CPMP平臺(tái)的運(yùn)動(dòng)控制軟硬件分別進(jìn)行設(shè)計(jì),所設(shè)計(jì)的運(yùn)動(dòng)控制硬件系統(tǒng)主要包括伺服電機(jī)及其驅(qū)動(dòng)器、運(yùn)動(dòng)控制器、工控機(jī)和配對(duì)電源;所設(shè)計(jì)的運(yùn)動(dòng)控制軟件系統(tǒng)主要是通過(guò)LABVIEW編寫(xiě)上位機(jī)軟件來(lái)控制運(yùn)動(dòng)控制器,并通過(guò)運(yùn)動(dòng)控制器進(jìn)一步控制六柔索電機(jī)協(xié)同工作使末端執(zhí)行器走相應(yīng)的運(yùn)動(dòng)軌跡。實(shí)驗(yàn)研究表明:本文設(shè)計(jì)的運(yùn)動(dòng)控制系統(tǒng)基本滿足運(yùn)動(dòng)控制要求,運(yùn)動(dòng)控制上存在一定的誤差。(4)對(duì)EH-CPMP平臺(tái)安全監(jiān)測(cè)系統(tǒng)的軟硬件分別進(jìn)行設(shè)計(jì),硬件結(jié)構(gòu)方面主要包括傳感器選型,監(jiān)測(cè)電路板的制作;軟件結(jié)構(gòu)方面介紹了安全監(jiān)測(cè)系統(tǒng)的上位機(jī)設(shè)計(jì),包括三大功能模塊:紅外避障模塊、慣性傳感模塊以及實(shí)時(shí)位置模塊,重點(diǎn)是各模塊的原理以及上位機(jī)和下位機(jī)的設(shè)計(jì)。實(shí)驗(yàn)研究表明:本文設(shè)計(jì)的安全監(jiān)測(cè)系統(tǒng)基本滿足安全監(jiān)測(cè)要求。
[Abstract]:This paper relies on the project of the National Natural Science Foundation of China "dynamic performance Analysis and coordinated Control Technology Research of the large and heavy lifting Space Cooperative flexible Cable parallel configuration equipment Mechanism", 51275515). In this paper, a hybrid electro-hydraulic hybrid drive flexible cable parallel motion platform (EH-CPMPP) is studied, such as 3D modeling, kinematics research, virtual prototype simulation analysis, motion control system, safety monitoring system and experimental development, etc. The main work accomplished in this paper is summarized as follows: (1) 3D modeling of EH-CPMP platform. Compared with the traditional flexible cable parallel robot, the platform has the characteristics of hybrid electro-hydraulic drive, reconfigurable modularization and adjustable tower height. Its motion is relatively complex. This paper mainly considers the motion form of six flexible cables, and then simplifies it to a parallel mechanism model of six motors working together, and studies its kinematics, including forward and inverse kinematics solutions. The methods of solving the kinematics forward and inverse solutions are established respectively, and the kinematics forward and inverse solutions are solved by MATLAB programming. In the forward kinematics solution, a numerical algorithm is used to solve the forward kinematics, and the results are compared with the desired trajectory at six degrees of freedom. The feasibility of solving the forward kinematics solution of EH-CPMP platform by using the position-attitude forward solution algorithm based on numerical value is verified. The virtual prototype simulation analysis of the simplified parallel mechanism model with six motors working together is carried out, and the dynamic model is established in ADAMS. Before modeling, the flexible cable model is assumed reasonably, and then the linear and arc trajectories of the dynamic model are solved. From the simulation results, it can be seen that there are flexible elastic and deadweight reasons in the cable itself. The motion control hardware and software of EH-CPMP platform are designed respectively. The hardware system of motion control mainly includes servo motor and its driver. The motion control software system is designed to control the motion controller by LABVIEW. The motion controller further controls the six flexible cable motor to work together to make the end actuator follow the corresponding motion trajectory. The experimental results show that the motion control system designed in this paper basically meets the requirements of motion control, and there is a certain error in motion control. (4) the software and hardware of the security monitoring system of EH-CPMP platform are designed separately. The hardware structure mainly includes the sensor selection, the manufacture of the monitoring circuit board, the design of the upper computer of the safety monitoring system in the software structure, including three function modules: infrared obstacle avoidance module, Inertial sensing module and real-time position module, the emphasis is on the principle of each module and the design of upper computer and lower computer. The experimental results show that the safety monitoring system designed in this paper basically meets the requirements of safety monitoring.
【學(xué)位授予單位】：中國(guó)礦業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TH112;TP274

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