發(fā)布時間：2018-11-13 10:50

【摘要】：隨著吊裝環(huán)境的復(fù)雜化、被吊裝設(shè)備和起重設(shè)備的大型化,吊裝作業(yè)在安全性、精確性、效率上要求越來越高。起重機路徑規(guī)劃(PPC)是保證吊裝安全和效率的重要方法。起重機路徑規(guī)劃研究的是在給定條件下得到起重機動作序列的問題。通過路徑規(guī)劃對起重機的動作序列進行優(yōu)化,避免超載、碰撞等危險因素,從而保證了吊裝安全性,提高了方案制作效率。 國內(nèi)外一些研究機構(gòu)、學(xué)者進行了起重機路徑規(guī)劃的研究,但是大多是在起重機的起吊/就位姿態(tài)已知的情況下進行。然而在實際吊裝中,經(jīng)常是只給出了設(shè)備初始／目標(biāo)位置,這時起重機對應(yīng)的位姿是不確定的,也是不容易確定的,而操作者往往根據(jù)經(jīng)驗來確定。本文針對被吊裝設(shè)備位姿給定的移動式起重機路徑規(guī)劃(PPMCGLEP)問題進行研究。 首先,本文分析了起重機運動學(xué),并針對起重機結(jié)構(gòu)的特點,提出了起重機逆向運動學(xué)的“偽解析”解法。從而由給出的被吊裝設(shè)備位姿可以求出起重機對應(yīng)的位姿。 其次,在對路徑規(guī)劃深入研究的基礎(chǔ)上提出了被吊裝設(shè)備位姿給定起重機路徑規(guī)劃的通用解法流程。并給出路徑規(guī)劃中起重機、被吊裝設(shè)備、環(huán)境幾何模型的建立方法、構(gòu)建了起重機路徑規(guī)劃的位姿空間。 最后,針對單機路徑規(guī)劃的兩類具體問題(不考慮行走、考慮行走)進行研究。對不考慮行走的問題進行站位優(yōu)化,經(jīng)過實際案例,結(jié)果證明,站位優(yōu)化后路徑規(guī)劃的時間和路徑質(zhì)量得到了很大的提高；被吊設(shè)備初始/目標(biāo)位置比較遠(yuǎn)、吊裝環(huán)境比較復(fù)雜的時需要考慮起重機的行走動作,針對這種情況提出了HeurPostureRRT算法,通過實際算例證明該算法極大地縮短了規(guī)劃時間,提高了路徑質(zhì)量。
[Abstract]:With the complexity of hoisting environment and the large-scale hoisting equipment and hoisting equipment, hoisting operation requires more and more safety, accuracy and efficiency. Crane path planning (PPC) is an important method to ensure the safety and efficiency of hoisting. Crane path planning studies the problem of obtaining crane action sequences under given conditions. The operation sequence of crane is optimized by path planning to avoid the risk factors such as overload and collision so as to ensure the safety of hoisting and improve the efficiency of scheme making. Some research institutions and scholars at home and abroad have carried out the research of crane path planning, but most of them are carried out when the crane lifting / positioning attitude is known. However, in the actual hoisting, the initial / target position of the equipment is often given only. In this case, the position and orientation of the crane is uncertain and difficult to determine, and the operator usually determines the position according to the experience. In this paper, the (PPMCGLEP) problem of path planning for mobile cranes with given position and orientation of hoisting equipment is studied. Firstly, the kinematics of cranes is analyzed, and according to the characteristics of crane structure, a pseudo-analytic solution of crane inverse kinematics is proposed. Thus, the corresponding posture of the crane can be obtained from the given pose of the hoisting equipment. Secondly, on the basis of deep research on path planning, a general solution flow of route planning for crane given position and pose of hoisting equipment is proposed. The method of setting up the geometric model of crane, hoisting equipment and environment in path planning is given, and the position and pose space of path planning of crane is constructed. Finally, two kinds of specific problems of single machine path planning (not considering walking, considering walking) are studied. The optimization of station position without considering the problem of walking is carried out. Through practical cases, it is proved that the time and quality of path planning have been greatly improved after the optimization of station position. The traveling action of crane should be considered when the initial / target position of hoisting equipment is far away, and the hoisting environment is more complicated. In view of this situation, the HeurPostureRRT algorithm is proposed, and the practical example shows that the algorithm can greatly shorten the planning time. The path quality is improved.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH21

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本文編號：2328875