本文選題：移動(dòng)噴涂機(jī)械臂 + 大尺度船舶表面　； 參考：《哈爾濱工業(yè)大學(xué)》2016年碩士論文

【摘要】：表面噴涂是機(jī)械類、電器類外殼等產(chǎn)品制造工藝中表面防腐防銹蝕處理的重要一環(huán)。相對(duì)于體積較小的產(chǎn)品外表面噴涂而言,面向大型復(fù)雜表面的噴涂技術(shù)在尺度以及自動(dòng)化程度上仍然面臨巨大挑戰(zhàn),尤其在大型船舶表面噴涂領(lǐng)域,當(dāng)前仍主要依賴人工完成,不僅效率低、噴涂質(zhì)量不穩(wěn)定,并且工況環(huán)境惡劣,對(duì)工人傷害大,因此開展面向大型船體分段自動(dòng)噴涂技術(shù)的研究對(duì)提高噴涂效率與質(zhì)量具有重要意義。本文結(jié)合國家科技支撐項(xiàng)目課題“超大船體分段自動(dòng)噴涂成套設(shè)備研制”,針對(duì)一款面向大型船體分段的新型自動(dòng)化移動(dòng)噴涂機(jī)器人,開展大型船體分段定位技術(shù),大尺度移動(dòng)機(jī)械臂定位、運(yùn)動(dòng)學(xué)以及控制方法相關(guān)關(guān)鍵技術(shù)研究。首先,開展大型船舶分段定位技術(shù)研究。以表面特征點(diǎn)的測繪為基礎(chǔ),結(jié)合坐標(biāo)變換,采用全站儀用于確定船體、移動(dòng)機(jī)械臂及信標(biāo)之間相對(duì)位置關(guān)系,基于后方交會(huì)法原理,建立了全站儀測量系統(tǒng)測量誤差分析數(shù)學(xué)模型,分析了全站儀建站位置因素對(duì)測量誤差的影響規(guī)律,在此基礎(chǔ)上確定了建站位置關(guān)系,并進(jìn)行了實(shí)驗(yàn)驗(yàn)證。其次,進(jìn)行移動(dòng)機(jī)械臂實(shí)時(shí)相對(duì)定位技術(shù)研究。針對(duì)大型船體分段表面噴涂環(huán)境,提出了一種改進(jìn)的三邊信標(biāo)絕對(duì)定位方法,采用SICK激光雷達(dá)實(shí)時(shí)掃描實(shí)現(xiàn)信標(biāo)的數(shù)據(jù)分割、信標(biāo)外輪廓的識(shí)別,引入定位權(quán)值實(shí)現(xiàn)的信標(biāo)選取和數(shù)據(jù)處理,建立了誤差分析模型用于分析誤差產(chǎn)生原因及降低方法,并通過實(shí)驗(yàn)對(duì)移動(dòng)機(jī)械臂定位方法進(jìn)行了驗(yàn)證。然后,進(jìn)行大尺度移動(dòng)機(jī)械臂運(yùn)動(dòng)學(xué)分析。以提高噴涂效率為目標(biāo),制定了移動(dòng)機(jī)械臂噴涂策略以及噴涂路徑規(guī)劃;利用激光跟蹤儀標(biāo)定機(jī)械臂結(jié)構(gòu)參數(shù),并基于D-H法進(jìn)行運(yùn)動(dòng)學(xué)分析;針對(duì)4輪移動(dòng)平臺(tái)特點(diǎn),制定了運(yùn)動(dòng)及控制策略。最后,針對(duì)工程液壓機(jī)械臂無反饋、模擬量控制的問題,進(jìn)行液壓驅(qū)動(dòng)移動(dòng)機(jī)械臂數(shù)字化控制系統(tǒng)設(shè)計(jì)。通過在各個(gè)運(yùn)動(dòng)關(guān)節(jié)增加了反饋檢測環(huán)節(jié),解算運(yùn)動(dòng)控制量與關(guān)節(jié)狀態(tài)的關(guān)系,建立數(shù)字控制接口,實(shí)現(xiàn)了大尺度移動(dòng)機(jī)械臂數(shù)字化反饋控制,最后完成搭載6自由度噴涂機(jī)械臂進(jìn)行模擬船體噴涂的實(shí)驗(yàn)。
[Abstract]:Surface spraying is an important part of surface anticorrosion and corrosion prevention in mechanical and electrical products. Compared with the outer surface spraying of small products, the spraying technology for large and complex surfaces still faces great challenges in scale and automation, especially in the field of surface spraying of large ships, which still relies mainly on manual painting, especially in the field of surface spraying of large ships. Not only the efficiency is low, the quality of spraying is unstable, but also the working condition is bad, which is harmful to the workers. Therefore, it is very important to develop the technology of automatic spraying for large hull sections to improve the efficiency and quality of spraying. In this paper, a new automatic mobile spraying robot for large hull segments is developed, which is based on the national science and technology support project, "the complete set of equipment for automatic spraying of large hull segments", which aims at a new type of automatic mobile spraying robot for large hull segments. Research on key Technologies of large-scale Mobile manipulator location, Kinematics and Control methods. First of all, the research on segmented positioning technology of large-scale ships is carried out. Based on the mapping of surface feature points and coordinate transformation, the total station is used to determine the relative position relationship between ship hull, moving manipulator and beacon, based on the principle of rear intersection. The mathematical model of measuring error analysis of total station measuring system is established, and the influence law of the location factor of total station construction on the measurement error is analyzed. On the basis of this, the position relation of total station construction system is determined, and the experimental verification is carried out. Secondly, the real-time relative positioning technology of mobile manipulator is studied. In this paper, an improved three-sided beacon absolute positioning method is proposed for large hull segmented surface spraying environment. The real-time scanning of SICK lidar is used to realize the data segmentation of the beacon and the recognition of the outer contour of the beacon. By introducing the beacon selection and data processing realized by positioning weights, the error analysis model is established to analyze the causes of errors and the methods of reducing the errors, and the positioning method of mobile manipulator is verified by experiments. Then, kinematics analysis of large-scale mobile manipulator is carried out. In order to improve the spraying efficiency, the spraying strategy and the spray path planning of the mobile manipulator are worked out, the structure parameters of the manipulator are calibrated by laser tracker, and the kinematics analysis based on D-H method is carried out. The motion and control strategies are formulated. Finally, the digital control system of hydraulic driven mobile manipulator is designed to solve the problem of no feedback and analog control of hydraulic manipulator. By adding feedback detection link to each moving joint and calculating the relationship between motion control quantity and joint state, the digital control interface is established, and the digital feedback control of large scale mobile manipulator is realized. Finally, the experiment of simulating ship spraying with 6 DOF spraying manipulator is completed.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U671

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