本文選題：機(jī)械臂　切入點(diǎn)：運(yùn)動學(xué)　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：配電線路帶電作業(yè)應(yīng)用極其廣泛,采用機(jī)器人代替人工進(jìn)行配電線路維護(hù)作業(yè),可使作業(yè)人員擺脫高空、高壓和強(qiáng)磁場的危險(xiǎn)作業(yè)環(huán)境,最大限度地保證作業(yè)人員的安全,具有重要的現(xiàn)實(shí)意義。本文圍繞某帶電作業(yè)機(jī)器人研發(fā)項(xiàng)目,對關(guān)節(jié)式機(jī)器人的運(yùn)動學(xué)建模、路徑規(guī)劃、軌跡優(yōu)化、雙臂協(xié)同等方法開展理論與實(shí)驗(yàn)研究,以滿足配電線路維護(hù)作業(yè)對機(jī)器人運(yùn)動準(zhǔn)確、平穩(wěn)、柔順和安全的要求。本文主要完成了以下工作:1)在介紹配電線路維護(hù)機(jī)器人系統(tǒng)整體結(jié)構(gòu)的基礎(chǔ)上,結(jié)合線路維護(hù)作業(yè)任務(wù)對機(jī)器人的控制要求,分析了機(jī)械臂的運(yùn)動特點(diǎn),設(shè)計(jì)了機(jī)械臂的動作方案。2)以優(yōu)傲機(jī)械臂為例,采用DH參數(shù)法建立了 UR5機(jī)械臂的運(yùn)動學(xué)模型,基于數(shù)值解析法給出了機(jī)械臂逆運(yùn)動學(xué)求解方程。結(jié)合機(jī)械臂參數(shù),求解出機(jī)械臂關(guān)節(jié)的運(yùn)動范圍;采用蒙特卡洛法仿真分析了機(jī)械臂的工作空間,給出了機(jī)械臂末端的工作區(qū)域�；跈E球包圍盒的碰撞檢測法,設(shè)計(jì)了機(jī)械臂的避碰算法。3)針對配電線路維護(hù)機(jī)器人運(yùn)動軌跡平滑性與精準(zhǔn)性要求,開展機(jī)械臂軌跡優(yōu)化研究。采用五次多項(xiàng)式插值與三次B樣條插值法,在關(guān)節(jié)空間對機(jī)械臂運(yùn)動軌跡進(jìn)行規(guī)劃。進(jìn)一步,為優(yōu)化B樣條插值的時(shí)間點(diǎn),提出了一種基于遺傳算法的最小時(shí)間-加加速度優(yōu)化算法,有效提高了作業(yè)效率。對任務(wù)空間軌跡規(guī)劃可能出現(xiàn)的奇異點(diǎn)和關(guān)節(jié)速度過大問題,設(shè)計(jì)了相應(yīng)的解決方案。4)針對配電線路維護(hù)作業(yè)對機(jī)械臂避障功能的要求,為機(jī)械臂末端8字形運(yùn)動軌跡設(shè)計(jì)了相應(yīng)的軌跡規(guī)劃算法,并在自行構(gòu)建的機(jī)械臂運(yùn)動編程軟件平臺上實(shí)現(xiàn)。實(shí)驗(yàn)結(jié)果表明,所設(shè)計(jì)的軌跡規(guī)劃算法可使機(jī)械臂平穩(wěn)地實(shí)現(xiàn)復(fù)雜軌跡的運(yùn)動,可重復(fù)性好。設(shè)計(jì)了雙機(jī)械臂協(xié)同擰瓶蓋的模擬實(shí)驗(yàn),并獲得了理想的實(shí)驗(yàn)結(jié)果。針對配電線路維護(hù)中最為常見的安裝和拆卸螺母操作,設(shè)計(jì)了機(jī)械臂擰螺母實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明機(jī)械臂運(yùn)動規(guī)劃能夠?qū)崿F(xiàn)擰螺母的基本動作。
[Abstract]:Distribution line live operation is widely used. Using robot instead of manual to carry out distribution line maintenance can make the operator get rid of the dangerous working environment of high altitude, high pressure and strong magnetic field, and ensure the safety of the operator to the maximum extent. In this paper, the kinematics modeling, path planning, trajectory optimization, dual-arm coordination and other methods of joint robot are studied in theory and experiment around the research and development project of a electrified robot. In order to meet the requirements of accurate, smooth, compliant and safe movement of the robot for distribution line maintenance, this paper mainly completed the following work: 1) on the basis of introducing the overall structure of the distribution line maintenance robot system, According to the control requirements of the robot for the line maintenance task, the kinematic characteristics of the manipulator are analyzed, and the action scheme of the manipulator is designed. Taking the superior arm as an example, the kinematics model of the UR5 manipulator is established by using DH parameter method. Based on the numerical analysis method, the inverse kinematics equation of the manipulator is given. The kinematic range of the manipulator joint is solved by combining the parameters of the manipulator, and the workspace of the manipulator is simulated and analyzed by Monte Carlo method. Based on the collision detection method of ellipsoidal bounding box, the collision avoidance algorithm .3 is designed to meet the requirements of smoothness and accuracy of the trajectory of the distribution line maintenance robot. In order to optimize the time point of B-spline interpolation, the trajectory of manipulator is planned in joint space by means of polynomial interpolation and cubic B-spline interpolation. In this paper, a minimum time-acceleration optimization algorithm based on genetic algorithm is proposed, which can effectively improve the operation efficiency. The corresponding solution. 4) aiming at the requirements of the obstacle avoidance function of the distribution line maintenance operation, the corresponding trajectory planning algorithm is designed for the 8 zigzag trajectory at the end of the manipulator. The experiment results show that the trajectory planning algorithm can make the manipulator realize the movement of complex trajectory smoothly. Good repeatability. The simulation experiment of double mechanical arm synergetic screw cap is designed, and the ideal experimental results are obtained. Aiming at the most common operation of installing and disassembling nut in the maintenance of distribution line, the experiment of mechanical arm screw nut is designed. The experimental results show that the motion planning of the manipulator can realize the basic action of the nut.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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