本文關(guān)鍵詞： 機械手 運動學分析 軌跡規(guī)劃研究 動力學分析 OpenGL顯示　出處：《浙江理工大學》2017年碩士論文　論文類型：學位論文

【摘要】：在如今這樣一個工業(yè)自動化的時代,機器人作為一種興盛的自動化設(shè)備被廣泛的應(yīng)用于各行各業(yè)。由于它具有可廣泛應(yīng)用性、工作時效高、速度響應(yīng)快、穩(wěn)定性強、反復精度高,可以工作數(shù)十年,自動化水平非常高等特點[1]。以其特有的良性結(jié)構(gòu)和柔性控制方式,從而具有傳統(tǒng)機械無可比擬的優(yōu)勢,故而工業(yè)機器人的技術(shù)在快速發(fā)展。由于五自由機械手的靈活度高,被廣泛的用于各個領(lǐng)域,為了使機械手的加工效率和精度大大提高,故針對五自由度機械手的運動規(guī)劃的研究和分析具有重要的意義。五自由度機械手末端位姿控制涉及到末端位姿的描述,傳統(tǒng)的S型加減速控制方法較少考慮末端軸矢量的變化,因此對末端位姿不能簡單有效、準確控制,無法有效兼顧精度和效率等問題;并且由于五軸機械手的靈活度,故而關(guān)節(jié)角度存在多解問題,為解決五自由度機械手的逆解的多解問題,故而通過對實際工況的分析,加以關(guān)節(jié)角度的限制,將多解分為可合理選擇的八種情況。本文以五軸驅(qū)動式串聯(lián)機械手為對象,進行運動規(guī)劃以及動力學研究。為了更好的分析機械手,首先根據(jù)國內(nèi)外的五軸機械手的結(jié)構(gòu)特征,確定五軸機械手的模型方案。用三維軟件solidworks建立機械手的模型,并以該模型設(shè)計出大概的機構(gòu)模型為本體,安裝控制系統(tǒng),搭建好實驗平臺。接著,對五自由度機械手進行運動學和動力學分析。基于D-H坐標系法,針對5R機械手進行坐標建模并確定其連桿參數(shù),根據(jù)得到的運動學方程完成正逆解的運算;并針對五自由度機械手的多解問題進行分類討論,合理的取解。通過拉格朗日法則推出系統(tǒng)動力學方程,把得到的動力學方程編寫代碼,將建立的三維模型導入到matlab軟件中去,基于matlab軟件對五自由度機械手進行運動學的驗證與仿真;在visaul studio的編譯環(huán)境利用OpenGL技術(shù)編寫五自由度機械手的三維可視化仿真軟件,來實現(xiàn)實時可操作性的五自由度機械手的仿真系統(tǒng)。根據(jù)機械手的運動學算法的模塊來實現(xiàn)對機械手模型的運動控制,最終達到實時的動畫效果[2]。本文最后對機械手的末端軌跡插補的研究,傳統(tǒng)方法較少考慮末端軸矢量的變化,因此對末端位姿不能簡單有效、準確控制,無法有效兼顧精度和效率等問題。為此提出了采用雙NURBS曲線對末端位姿進行控制,利用非對稱S型加減速控制方法進行軌跡規(guī)劃。該算法能很好的解決末端控制精度不夠高,控制過程復雜的弊端,并且能有效避免加加速度過大導致機構(gòu)停止時振動過大的問題。通過仿真實驗證明該算法簡明高效、運行穩(wěn)定、能夠有效提高機械臂加工工件的效率和精度。
[Abstract]:In such an era of industrial automation, robots, as a thriving automation equipment, are widely used in various industries. Because of its wide application, high working efficiency, fast response. Strong stability, high repetition accuracy, can work for decades, automation level is very high. [1. Because of its unique benign structure and flexible control mode, which has the unparalleled advantages of traditional machinery, the technology of industrial robot is developing rapidly. Because of the high flexibility of the five-free manipulator. It is widely used in various fields in order to greatly improve the machining efficiency and precision of the manipulator. Therefore, it is of great significance to study and analyze the motion planning of five-degree-of-freedom manipulator. The end-position and attitude control of five-degree-of-freedom manipulator involves the description of end-position and pose. The traditional S-type acceleration and deceleration control method seldom considers the change of the terminal axis vector, so it can not be simple and effective, accurate control, can not effectively take into account the problems of accuracy and efficiency. And because of the flexibility of the five-axis manipulator, there are multiple solutions to the joint angle. In order to solve the multi-solution problem of the inverse solution of the five-degree-of-freedom manipulator, the joint angle is restricted by the analysis of the actual working conditions. The multi-solution can be divided into eight reasonable cases. This paper takes the five-axis drive series manipulator as the object, carries on the motion planning and the dynamics research, in order to analyze the manipulator better. Firstly, according to the structural characteristics of the five-axis manipulator at home and abroad, the model scheme of the five-axis manipulator is determined. The model of the five-axis manipulator is established by using the three-dimensional software solidworks. Based on this model, the control system is installed and the experimental platform is built. Then, the kinematics and dynamics analysis of the five-degree-of-freedom manipulator is carried out based on D-H coordinate system. The coordinate modeling of 5R manipulator and the determination of its connecting rod parameters are carried out, and the forward and inverse solutions are calculated according to the obtained kinematics equations. The multi-solution problem of five-degree-of-freedom manipulator is classified and discussed, and reasonable solution is obtained. The system dynamic equation is deduced by Lagrangian rule, and the obtained dynamic equation is coded. The 3D model is imported into the matlab software, and the kinematics of the five-degree-of-freedom manipulator is verified and simulated based on the matlab software. In the compiling environment of visaul studio, the three-dimensional visual simulation software of five-degree-of-freedom manipulator is compiled by using OpenGL technology. According to the kinematics algorithm module of manipulator to realize the motion control of manipulator model, and finally achieve the real-time animation effect. [2]. In the last part of this paper, the end trajectory interpolation of the manipulator is studied. The traditional method seldom considers the change of the terminal axis vector, so it is not simple and effective to control the terminal position and pose accurately. The problem of accuracy and efficiency can not be taken into account effectively. Therefore, a double NURBS curve is proposed to control the terminal position and pose. The asymmetric S-type acceleration and deceleration control method is used for trajectory planning. This algorithm can solve the disadvantages of the terminal control accuracy is not high enough and the control process is complex. The simulation results show that the algorithm is simple, efficient and stable, and can effectively improve the efficiency and precision of the machined workpiece.
【學位授予單位】：浙江理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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本文編號：1460900