【摘要】：為提高飛機(jī)油箱檢查維護(hù)效率,減輕機(jī)務(wù)人員工作強(qiáng)度,研究適用于飛機(jī)油箱檢查的機(jī)器人。連續(xù)型機(jī)器人以其細(xì)長的結(jié)構(gòu)和優(yōu)良的彎曲性能,可用于結(jié)構(gòu)約束的狹小空間中。因此,使用連續(xù)型機(jī)器人進(jìn)行油箱檢查作業(yè)。本文主要研究連續(xù)型機(jī)器人對已規(guī)劃路徑的跟隨控制問題。(1)根據(jù)飛機(jī)油箱檢查的需求設(shè)計了連續(xù)型機(jī)器人柔性機(jī)構(gòu)和具有可擴(kuò)展性的驅(qū)動機(jī)構(gòu)。柔性機(jī)構(gòu)以碳纖維桿作為軸心支架,采用線驅(qū)動遠(yuǎn)程控制方式;驅(qū)動機(jī)構(gòu)采用卷繞方式實現(xiàn)對驅(qū)動線的位移控制,驅(qū)動電機(jī)縱向環(huán)形布局,具有占據(jù)空間小、易于擴(kuò)展的特點。(2)分析建立連續(xù)型機(jī)器人的單關(guān)節(jié)段和多關(guān)節(jié)段運動學(xué)模型,得到各關(guān)節(jié)段坐標(biāo)系間的齊次變換矩陣。推導(dǎo)關(guān)節(jié)空間與驅(qū)動空間的映射關(guān)系,通過幾何分析得到驅(qū)動線折線彎曲時求解線長變化量的數(shù)學(xué)表達(dá)式,為控制蛇臂運動奠定基礎(chǔ)。(3)研究了基于關(guān)節(jié)段末端點與路徑重合思想的連續(xù)型機(jī)器人路徑跟隨控制算法。對于空間共面路徑,采用基于二分法求解方程的算法進(jìn)行跟隨;對于空間異面路徑,提出基于已知點的步進(jìn)逼近算法進(jìn)行跟隨�；贛ATLAB進(jìn)行路徑跟隨仿真實驗研究,并提出路徑跟隨性能評價指標(biāo)。仿真實驗驗證了路徑跟隨算法對不同路徑的適用性和有效性。(4)設(shè)計了基于姿態(tài)和驅(qū)動力反饋的連續(xù)型飛機(jī)油箱檢查機(jī)器人控制系統(tǒng),并在樣機(jī)平臺上進(jìn)行了實際實驗。使用歐拉角法分析蛇臂坐標(biāo)系的旋轉(zhuǎn)變換關(guān)系,將姿態(tài)傳感器測量的RPY姿態(tài)角轉(zhuǎn)換為可用于蛇臂姿態(tài)控制的ZYZ歐拉角。針對蛇臂運行中的各驅(qū)動線速度不協(xié)調(diào)及姿態(tài)控制振蕩問題,設(shè)計了速度控制策略,提高蛇臂運行的快速性和穩(wěn)定性�；赩C++設(shè)計控制系統(tǒng)軟件,進(jìn)行蛇臂單關(guān)節(jié)段、兩關(guān)節(jié)段的運動控制實驗和路徑跟隨實驗,結(jié)果驗證了基于姿態(tài)和驅(qū)動力反饋控制的有效性和穩(wěn)定性。
[Abstract]:In order to improve the efficiency of the inspection and maintenance of the aircraft fuel tank and reduce the working intensity of the crew, the robot suitable for the inspection of the aircraft fuel tank is studied. Because of its slender structure and excellent bending performance, continuous robot can be used in narrow space with structural constraints. Therefore, a continuous robot is used to check the fuel tank. In this paper, the following control problem of the planned path for continuous robot is studied. (1) the flexible mechanism and the extensible driving mechanism of continuous robot are designed according to the requirements of aircraft fuel tank inspection. The flexible mechanism takes the carbon fiber rod as the axis support, adopts the line drive remote control mode, the driving mechanism uses the winding way to realize the displacement control of the drive line, the longitudinal ring layout of the driving motor has small occupied space, It is easy to be extended. (2) the kinematics models of single and multi-joint segments of continuous robot are analyzed and the homogeneous transformation matrix among coordinate systems of each joint segment is obtained. The mapping relationship between joint space and drive space is deduced, and the mathematical expression for calculating the variation of line length is obtained by geometric analysis. It lays a foundation for the control of snake arm motion. (3) A continuous robot path following control algorithm based on the idea of joint end point and path coincidence is studied. For spatial coplanar paths, the algorithm based on dichotomy to solve equations is used to follow, and for spatial heterogeneous paths, a step approximation algorithm based on known points is proposed to follow. The path following simulation experiment based on MATLAB is carried out, and the evaluation index of path following performance is put forward. The simulation results show that the path following algorithm is applicable and effective to different paths. (4) A continuous aircraft fuel tank inspection robot control system based on attitude and driving force feedback is designed and tested on the prototype platform. The RPY attitude angle measured by the attitude sensor is converted to the ZYZ Euler angle which can be used to control the attitude of the snake arm by using the Euler angle method to analyze the rotation transformation of the snake arm coordinate system. In order to improve the speed and stability of the snake arm, a speed control strategy is designed to solve the problems of the miscoordination of the driving speed and the attitude control oscillation in the operation of the snake arm. The control system software is designed based on VC, and the motion control experiment and path following experiment of single joint segment and two joint segment of snake arm are carried out. The results verify the validity and stability of attitude and driving force feedback control.
【學(xué)位授予單位】：中國民航大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V267;TP242

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