發(fā)布時(shí)間：2018-06-06 15:09

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

【摘要】：被吊設(shè)備、起重機(jī)以及吊裝方式的多樣化、復(fù)雜化等特點(diǎn)決定了起重機(jī)吊裝是一類高危險(xiǎn)性的活動(dòng)。與單機(jī)吊裝作業(yè)相比,兩臺(tái)履帶起重機(jī)(文中簡(jiǎn)稱雙機(jī))協(xié)同吊裝的危險(xiǎn)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(jī)路徑規(guī)劃就顯得尤為重要。為此,本課題將針對(duì)雙機(jī)協(xié)同吊裝任務(wù),抽象問(wèn)題的數(shù)學(xué)模型,對(duì)閉環(huán)約束、非完整約束等開(kāi)展深入研究,應(yīng)用并改進(jìn)RRTConnect算法,提出可以應(yīng)用于平移和翻轉(zhuǎn)被吊設(shè)備的通用方法,規(guī)劃出滿足無(wú)碰撞、實(shí)時(shí)保證繩偏角、履帶起重機(jī)行走特性和起重性能等要求的優(yōu)化路徑。 首先,通過(guò)對(duì)吊裝存在的安全性問(wèn)題進(jìn)行分析,以及對(duì)起重機(jī)吊裝路徑規(guī)劃研究現(xiàn)狀進(jìn)行總結(jié),論述了本課題的研究意義,同時(shí)對(duì)路徑規(guī)劃方法的特點(diǎn)進(jìn)行研究確定應(yīng)用和改進(jìn)RRTConnect(雙向多步擴(kuò)展快速隨機(jī)搜索樹(shù))算法來(lái)解決雙機(jī)路徑規(guī)劃問(wèn)題。 其次,在討論機(jī)器人路徑規(guī)劃的基礎(chǔ)上,對(duì)雙機(jī)路徑規(guī)劃問(wèn)題進(jìn)行深入剖析,構(gòu)建雙機(jī)吊裝系統(tǒng)數(shù)學(xué)模型,并對(duì)數(shù)學(xué)模型的變量進(jìn)行詳細(xì)說(shuō)明。 再次,對(duì)雙機(jī)吊裝中兩類常見(jiàn)吊裝任務(wù)即將被吊設(shè)備翻轉(zhuǎn)和將被吊設(shè)備平移,論述了采用RRTConnect算法解決雙機(jī)路徑規(guī)劃問(wèn)題的步驟,同時(shí)給出了逆向運(yùn)動(dòng)學(xué)確定雙機(jī)初始和目標(biāo)位姿的計(jì)算過(guò)程和對(duì)路徑的優(yōu)化處理方法,并用三個(gè)典型案例驗(yàn)證方法的可行性。 最后,對(duì)RRTConnect算法做改進(jìn),提出了基于關(guān)鍵位姿的RRTMultiPhrase算法,以解決雙機(jī)吊裝中較為復(fù)雜的吊裝任務(wù)路徑規(guī)劃,論述了RRTMultiPhrase算法的原理,同時(shí)給出了關(guān)鍵點(diǎn)選擇的一般方法,接著對(duì)兩個(gè)復(fù)雜案例分別用三種方法進(jìn)行路徑規(guī)劃,說(shuō)明本文提出算法的可行性。 本文分析了雙機(jī)吊裝作業(yè)的特點(diǎn),對(duì)給定雙機(jī)初始和目標(biāo)位姿的協(xié)同吊裝路徑規(guī)劃問(wèn)題展開(kāi)深入的探索和研究,實(shí)現(xiàn)了考慮直線行走、轉(zhuǎn)彎、起升、回轉(zhuǎn)和變幅等動(dòng)作并滿足無(wú)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(jī)行走或者使被吊設(shè)備翻轉(zhuǎn)的吊裝任務(wù)的局限性,并且將提出的方法應(yīng)用于典型的吊裝案例,證明其可行性、實(shí)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(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH213.7

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