【摘要】：目前國內(nèi)外在并聯(lián)協(xié)作機構(gòu)軌跡規(guī)劃領(lǐng)域的相關(guān)研究報導(dǎo)很少，本文作為一個探索性課題，基于兩個已知參數(shù)的Stewart機構(gòu)構(gòu)建協(xié)作仿真平臺，分析協(xié)作機構(gòu)的運動學(xué)逆解與工作空間并研究并聯(lián)協(xié)作機構(gòu)軌跡規(guī)劃整個過程。 考慮協(xié)作曲面的任意性，本文采用NURBS對協(xié)作曲面進(jìn)行表示，并分析基于NURBS表示的協(xié)作曲面造型與實時插補。造型的難點在于NURBS曲面的裁剪，而曲面裁剪的核心在于邊界曲線三維坐標(biāo)空間在NURBS曲面uv參數(shù)空間的投影，本文設(shè)計一種基于牛頓迭代的NURBS曲面快速裁剪方法，實現(xiàn)了課題NURBS曲面的有效裁剪問題。插補方面，本文設(shè)計一種基于自調(diào)節(jié)等參數(shù)線法的u向步長求取結(jié)合基于自適應(yīng)速度的v向步長求取的協(xié)作機構(gòu)實時插補方法。 設(shè)計協(xié)作優(yōu)化模型進(jìn)行并聯(lián)協(xié)作機構(gòu)的協(xié)作軌跡規(guī)劃分析。協(xié)作優(yōu)化模型可描述為一個基于三優(yōu)化參數(shù)的時變協(xié)作任務(wù)分解與分配模型，即采用一組優(yōu)化參數(shù)對時變協(xié)作任務(wù)進(jìn)行分解與分配，將協(xié)作任務(wù)的分解與分配問題轉(zhuǎn)化為一個最優(yōu)化問題。針對并聯(lián)協(xié)作機構(gòu)位姿（包括位置信息和姿態(tài)角信息），本文完成了并聯(lián)協(xié)作機構(gòu)軌跡規(guī)劃過程中的位置協(xié)作，即對協(xié)作機構(gòu)平移矩陣進(jìn)行優(yōu)化分解與分配。 根據(jù)NURBS的協(xié)作曲面造型，實時插補算法和協(xié)作優(yōu)化模型，基于Linux系統(tǒng)，采用GTK+和OpenGL編程進(jìn)行協(xié)作軌跡規(guī)劃仿真軟件開發(fā)，，實現(xiàn)實時顯示并聯(lián)協(xié)作機構(gòu)協(xié)作軌跡規(guī)劃過程，同時驗證本文設(shè)計的協(xié)作優(yōu)化模型和協(xié)作軌跡規(guī)劃算法的可行性與正確性。
[Abstract]:At present, there are few reports in the field of parallel cooperative mechanism trajectory planning at home and abroad. As an exploratory topic, this paper constructs a collaborative simulation platform based on two known parameters of Stewart mechanism. The kinematics inverse solution and workspace of cooperative mechanism are analyzed and the whole process of trajectory planning of parallel cooperative mechanism is studied. Considering the arbitrariness of the cooperative surface, this paper uses NURBS to represent the cooperative surface, and analyzes the modeling and real-time interpolation of the cooperative surface based on the NURBS representation. The difficulty of modeling is the cutting of NURBS surface, and the core of surface clipping is the projection of 3D coordinate space of boundary curve in uv parameter space of NURBS surface. In this paper, a fast clipping method of NURBS surface based on Newton iteration is designed. The effective clipping problem of NURBS surface is realized. In terms of interpolation, this paper designs a real-time interpolation method for cooperative mechanism based on self-adjusting isoparametric line method, which combines u direction step size with v direction step size based on adaptive speed. The collaborative trajectory planning analysis of parallel cooperative mechanism is carried out by designing a collaborative optimization model. The cooperative optimization model can be described as a time-varying cooperative task decomposition and assignment model based on three optimization parameters, that is, a set of optimization parameters is used to decompose and allocate the time-varying cooperative task. The problem of decomposition and assignment of cooperative tasks is transformed into an optimization problem. Aiming at the position and pose of parallel cooperative mechanism (including position information and attitude angle information), this paper completes the position cooperation in the process of parallel cooperative mechanism trajectory planning, that is, the optimal decomposition and allocation of the translation matrix of the cooperative mechanism. According to NURBS's collaborative surface modeling, real-time interpolation algorithm and cooperative optimization model, based on Linux system, the collaborative trajectory planning simulation software is developed by using GTK and OpenGL programming, and the collaborative trajectory planning process of parallel cooperative mechanism can be displayed in real time. At the same time, the feasibility and correctness of the collaborative optimization model and the collaborative trajectory planning algorithm designed in this paper are verified.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH112

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 范守文,徐禮鉅,甘泉;一種新型并聯(lián)機床的最優(yōu)軌跡規(guī)劃[J];電子科技大學(xué)學(xué)報;2003年01期

2 孫海洋;范大鵬;;B樣條快速求值算法及其在曲線擬合中的應(yīng)用[J];飛行器測控學(xué)報;2008年03期

3 董宇欣;韓有韜;謝箭;;自由飄浮機器人能量最優(yōu)規(guī)劃方法[J];哈爾濱理工大學(xué)學(xué)報;2007年03期

4 趙振民;劉鋒;孔民秀;孫立寧;;工業(yè)機器人最優(yōu)軌跡規(guī)劃算法[J];黑龍江科技學(xué)院學(xué)報;2011年01期

5 羅進(jìn)生,張永俊;末端軌跡指定的機器人最優(yōu)二次軌跡規(guī)劃[J];機床與液壓;2002年03期

6 王仲民,崔世鋼,岳宏;機器人關(guān)節(jié)空間的軌跡規(guī)劃研究[J];機床與液壓;2005年02期

7 蔡長韜,黎亞元,戴躍洪,劉學(xué)義;基于STEP標(biāo)準(zhǔn)的機械零件應(yīng)用協(xié)議的設(shè)計方法[J];計算機集成制造系統(tǒng)-CIMS;2002年11期

8 張均富;王杰;徐禮鉅;;基于人工生命算法的并聯(lián)機器人最優(yōu)軌跡規(guī)劃[J];計算機集成制造系統(tǒng);2008年10期

9 郭衛(wèi)東,張玉茹,陳五一;3PSS并聯(lián)機構(gòu)的運動軌跡規(guī)劃與仿真[J];機械設(shè)計與研究;2004年01期

10 孔令富,張世輝,楊廣林;并聯(lián)機器人漢字球腔內(nèi)面雕刻刀路規(guī)劃算法研究[J];機械設(shè)計與研究;2004年01期

本文編號：2386381