本文選題：路徑規(guī)劃 + 雙機協(xié)同吊裝��； 參考：《大連理工大學》2012年碩士論文

【摘要】：被吊設備、起重機以及吊裝方式的多樣化、復雜化等特點決定了起重機吊裝是一類高危險性的活動。與單機吊裝作業(yè)相比,兩臺履帶起重機(文中簡稱雙機)協(xié)同吊裝的危險系數(shù)更高。為了安全順利地完成吊裝作業(yè),合理高效的起重機路徑規(guī)劃就顯得尤為重要。為此,本課題將針對雙機協(xié)同吊裝任務,抽象問題的數(shù)學模型,對閉環(huán)約束、非完整約束等開展深入研究,應用并改進RRTConnect算法,提出可以應用于平移和翻轉(zhuǎn)被吊設備的通用方法,規(guī)劃出滿足無碰撞、實時保證繩偏角、履帶起重機行走特性和起重性能等要求的優(yōu)化路徑。 首先,通過對吊裝存在的安全性問題進行分析,以及對起重機吊裝路徑規(guī)劃研究現(xiàn)狀進行總結,論述了本課題的研究意義,同時對路徑規(guī)劃方法的特點進行研究確定應用和改進RRTConnect(雙向多步擴展快速隨機搜索樹)算法來解決雙機路徑規(guī)劃問題。 其次,在討論機器人路徑規(guī)劃的基礎上,對雙機路徑規(guī)劃問題進行深入剖析,構建雙機吊裝系統(tǒng)數(shù)學模型,并對數(shù)學模型的變量進行詳細說明。 再次,對雙機吊裝中兩類常見吊裝任務即將被吊設備翻轉(zhuǎn)和將被吊設備平移,論述了采用RRTConnect算法解決雙機路徑規(guī)劃問題的步驟,同時給出了逆向運動學確定雙機初始和目標位姿的計算過程和對路徑的優(yōu)化處理方法,并用三個典型案例驗證方法的可行性。 最后,對RRTConnect算法做改進,提出了基于關鍵位姿的RRTMultiPhrase算法,以解決雙機吊裝中較為復雜的吊裝任務路徑規(guī)劃,論述了RRTMultiPhrase算法的原理,同時給出了關鍵點選擇的一般方法,接著對兩個復雜案例分別用三種方法進行路徑規(guī)劃,說明本文提出算法的可行性。 本文分析了雙機吊裝作業(yè)的特點,對給定雙機初始和目標位姿的協(xié)同吊裝路徑規(guī)劃問題展開深入的探索和研究,實現(xiàn)了考慮直線行走、轉(zhuǎn)彎、起升、回轉(zhuǎn)和變幅等動作并滿足無碰撞、閉環(huán)約束、非完整約束、不超載等約束的路徑規(guī)劃,解決了前人規(guī)劃方法不適用于需要起重機行走或者使被吊設備翻轉(zhuǎn)的吊裝任務的局限性,并且將提出的方法應用于典型的吊裝案例,證明其可行性、實用性和高效性。
[Abstract]:The diversity and complexity of hoisting equipment, cranes and hoisting methods determine that crane hoisting is a kind of high dangerous activity. Compared with single crane hoisting, the hazard coefficient of two crawler cranes is higher than that of single crane. In order to complete the hoisting operation safely and smoothly, it is very important to plan the crane route reasonably and efficiently. For this reason, this subject will carry on the thorough research to the double machine cooperative hoisting task, the abstract mathematical model, the closed loop constraint, the nonholonomic constraint and so on, and applies and improves the RRT Connect algorithm. A general method which can be applied to the translation and reversal of hoisting equipment is proposed to plan the optimal path to meet the requirements of non-collision, real-time guarantee of rope deflection angle, crawler crane travel characteristics and hoisting performance, and so on. By analyzing the safety problems existing in hoisting and summarizing the research status of crane hoisting path planning, the research significance of this subject is discussed. At the same time, the characteristics of the path planning method are studied and applied, and the RRTConnect algorithm is improved to solve the dual machine path planning problem. Secondly, based on the discussion of the robot path planning, the RRTConnect algorithm is improved to solve the dual-machine path planning problem. In this paper, the path planning problem of two machines is analyzed in depth, and the mathematical model of the hoisting system is constructed, and the variables of the mathematical model are explained in detail. For the two kinds of common hoisting tasks which are about to be overturned by the hoisting equipment and the translation of the hoisting equipment, the steps of using RRT Connect algorithm to solve the dual machine path planning problem are discussed in this paper. At the same time, the calculation process of inverse kinematics to determine the initial and target orientation of two machines and the method of path optimization are given, and the feasibility of the method is verified by three typical cases. Finally, the RRTConnect algorithm is improved. The RRT MultiPhrase algorithm based on the key position and pose is proposed to solve the more complicated path planning of hoisting task in the dual computer hoisting. The principle of the RRT MultiPhrase algorithm is discussed, and the general method of selecting the key points is given. Then, two complex cases are planned with three methods, which shows the feasibility of the algorithm in this paper. This paper analyzes the characteristics of double-machine hoisting operation. In this paper, the cooperative hoisting path planning problem for the given initial and target positions of two machines is deeply explored and studied, and the actions such as straight line walking, turning, hoisting, turning and amplitude shifting are considered, and the collision free, closed loop and nonholonomic constraints are satisfied. The path planning with no overload and other constraints solves the limitations of the previous planning methods which are not suitable for hoisting tasks that require cranes to walk or make the lifting equipment flip over, and the proposed method is applied to typical hoisting cases to prove its feasibility. Practicality and efficiency.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH213.7

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