本文關(guān)鍵詞： 柔索并聯(lián)機(jī)構(gòu) 運(yùn)動(dòng)學(xué) 力封閉工作空間 協(xié)同避障 耦合動(dòng)力學(xué)模型　出處：《合肥工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：本文依托于國(guó)家自然科學(xué)基金"電液復(fù)合驅(qū)動(dòng)模塊化可重構(gòu)柔索并聯(lián)機(jī)器人動(dòng)態(tài)耦合特性、控制技術(shù)及實(shí)驗(yàn)研究(51575150)"項(xiàng)目,以模塊化可重構(gòu)柔索并聯(lián)機(jī)器人為研究對(duì)象,對(duì)其機(jī)構(gòu)創(chuàng)新設(shè)計(jì)、機(jī)構(gòu)運(yùn)動(dòng)學(xué)與靜力學(xué)分析,力封閉工作空間分析評(píng)價(jià),復(fù)雜環(huán)境下的協(xié)同保障以及動(dòng)力學(xué)建模仿真以及實(shí)驗(yàn)開(kāi)展等問(wèn)題進(jìn)行了研究,本文完成的主要工作歸納如下:1.本文介紹了電液復(fù)合驅(qū)動(dòng)模塊化可重構(gòu)柔索并聯(lián)裝備實(shí)驗(yàn)平臺(tái)的硬件系統(tǒng)構(gòu)成,并對(duì)其機(jī)構(gòu)的重構(gòu)原理及多種基本構(gòu)型進(jìn)行了闡述;通過(guò)機(jī)構(gòu)創(chuàng)新設(shè)計(jì),提出了一種新型索桿復(fù)合驅(qū)動(dòng)的可重構(gòu)串并聯(lián)碼垛機(jī)器人,并對(duì)其機(jī)構(gòu)工作原理以及幾種重構(gòu)構(gòu)型進(jìn)行了詳細(xì)闡述。2.本文分別對(duì)電液復(fù)合驅(qū)動(dòng)模塊化可重構(gòu)柔索并聯(lián)裝備實(shí)驗(yàn)平臺(tái)與設(shè)計(jì)提出的新型索桿復(fù)合驅(qū)動(dòng)的可重構(gòu)串并聯(lián)碼垛機(jī)器人的運(yùn)動(dòng)學(xué)以及靜力學(xué)進(jìn)行了系統(tǒng)分析,并建立了統(tǒng)一的力封閉工作空間求解模型。本文還提出了一種針對(duì)柔索驅(qū)動(dòng)模塊化可重構(gòu)串并聯(lián)機(jī)構(gòu)的快速力封閉工作空間求解算法。并利用MATLAB對(duì)機(jī)器人的運(yùn)動(dòng)學(xué)及力封閉工作空間進(jìn)行分析計(jì)算與評(píng)價(jià)。3.本文針對(duì)模塊化可重構(gòu)柔索并聯(lián)機(jī)器人對(duì)其不同工作環(huán)境下的協(xié)同避障方法進(jìn)行了探討。文中通過(guò)簡(jiǎn)化分析將可重構(gòu)柔索并聯(lián)機(jī)器人的協(xié)同避障工作環(huán)境被分為大型單一障礙物下與復(fù)雜作業(yè)環(huán)境下兩種。其中對(duì)于大型單一障礙物下的協(xié)同避障作業(yè),本文提出了基于計(jì)算幾何及人工勢(shì)場(chǎng)法的柔索并聯(lián)機(jī)器人協(xié)同避障方法。對(duì)于復(fù)雜作業(yè)環(huán)境下協(xié)同避障作業(yè),文中首先通過(guò)簡(jiǎn)化建立起其一般模型,并在此基礎(chǔ)上利用計(jì)算幾何、凸包映射算法及多指抓握等理論,對(duì)不同構(gòu)型及障礙物分布下的可重構(gòu)柔索并聯(lián)機(jī)器人無(wú)碰撞力封閉工作空間進(jìn)行了計(jì)算,隨后本文提出了可實(shí)現(xiàn)最優(yōu)索力分布的協(xié)同避障算法,并通過(guò)MATLAB平臺(tái)及實(shí)驗(yàn)對(duì)所提出的算法進(jìn)行了分析及驗(yàn)證。4.本文建立了電液復(fù)合驅(qū)動(dòng)模塊化可重構(gòu)柔索并聯(lián)裝備實(shí)驗(yàn)平臺(tái)的耦合動(dòng)力學(xué)模型。文中基于拉格朗日法建立了考慮驅(qū)動(dòng)器及柔索彈性的耦合動(dòng)力學(xué)模型。隨后通過(guò)MATLAB平臺(tái)分別對(duì)傳統(tǒng)動(dòng)力學(xué)模型及所建立的耦合動(dòng)力學(xué)模型進(jìn)行了分析與比較。對(duì)驅(qū)動(dòng)器及柔索彈性對(duì)系統(tǒng)動(dòng)力學(xué)模型的耦合作用進(jìn)行了初步分析與研究。
[Abstract]:This paper is based on the project of National Natural Science Foundation "dynamic coupling characteristics, control technology and experimental research of modularized reconfigurable flexible cable parallel robot with electro-hydraulic compound drive", and takes modularized reconfigurable flexible cable parallel robot as the research object. The innovative design of mechanism, kinematics and statics analysis of mechanism, analysis and evaluation of force closed workspace, collaborative support in complex environment, dynamic modeling, simulation and experimental development are studied. The main work accomplished in this paper is summarized as follows: 1. This paper introduces the hardware system of the modular reconfigurable flexible cable parallel equipment experiment platform with electro-hydraulic compound drive, and expounds the principle of mechanism reconstruction and various basic configurations. A new reconfigurable series-parallel palletizing robot driven by cable-rod composite is proposed through the innovative design of the mechanism. At the same time, the working principle of the mechanism and several reconfiguration configurations are described in detail. 2. In this paper, the modular reconfigurable flexible cable parallel equipment experimental platform and the new reconfigurable cable-rod composite drive are presented in this paper. The kinematics and statics of series-parallel palletizing robot are analyzed systematically. A unified force closed workspace solution model is established. A fast force closed workspace solution algorithm for flexible cable driven modular reconfigurable series-parallel mechanisms is also proposed. The robot motion is obtained by using MATLAB. This paper discusses the cooperative obstacle avoidance method of modular reconfigurable flexible cable parallel robot under different working environments. In this paper, the reconfigurable parallel robot can be reconfigurable through simplified analysis. The cooperative obstacle avoidance environment of flexible cable parallel robot is divided into two kinds: large single obstacle environment and complex operation environment. This paper presents a cooperative obstacle avoidance method for flexible cable parallel manipulators based on computational geometry and artificial potential field method. Based on the computational geometry, convex hull mapping algorithm and multi-finger grip theory, the closed workspace of reconfigurable flexible cable parallel robot with different configurations and obstacles is calculated. Then, a cooperative obstacle avoidance algorithm which can realize the optimal distribution of cable force is proposed in this paper. The proposed algorithm is analyzed and verified by MATLAB platform and experiment. In this paper, the coupling dynamic model of the experimental platform of modularized reconfigurable flexible cable parallel equipment with electro-hydraulic compound driving is established. The model is based on Lagrangian method. A coupling dynamic model considering actuator and cable elasticity is established, and then the traditional dynamic model and the coupled dynamic model are analyzed and compared by MATLAB platform. The actuator and flexible cable elastic pair are analyzed and compared respectively. The coupling effect of system dynamics model is analyzed and studied.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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