本文選題：精準(zhǔn)對(duì)接 + 坐標(biāo)變換��； 參考：《北京航空航天大學(xué)學(xué)報(bào)》2017年09期

【摘要】：當(dāng)搶險(xiǎn)救援機(jī)器人腕部的全自動(dòng)快換裝置(full-AQHCD)自動(dòng)鎖緊屬具接口即下耦合件(LCP)時(shí),要同步精準(zhǔn)對(duì)接和自動(dòng)接通下耦合件的液壓管路,為此,分別提出了數(shù)字量測(cè)量條件下和模擬量測(cè)量條件下精準(zhǔn)對(duì)接理論(PDT),分別用于指導(dǎo)產(chǎn)品階段和樣機(jī)階段的生產(chǎn)。產(chǎn)品階段的精準(zhǔn)對(duì)接理論是:把全自動(dòng)快換裝置視為被動(dòng)目標(biāo),把下耦合件視為主動(dòng)目標(biāo);通過4個(gè)耦合點(diǎn)實(shí)現(xiàn)全自動(dòng)快換裝置與下耦合件的連接;通過測(cè)量分別建立被動(dòng)目標(biāo)坐標(biāo)系(X_1O_1Y_1)、主動(dòng)目標(biāo)坐標(biāo)系(X_2O_2Y_2)與精準(zhǔn)對(duì)接坐標(biāo)系(XOY)之間的位姿關(guān)系;將被動(dòng)目標(biāo)對(duì)接點(diǎn)X_1O_1Y_1坐標(biāo)變換到XOY坐標(biāo),再變換到主動(dòng)目標(biāo)對(duì)接點(diǎn)X_2O_2Y_2坐標(biāo);根據(jù)主動(dòng)目標(biāo)對(duì)接點(diǎn)X_2O_2Y_2坐標(biāo)對(duì)主動(dòng)目標(biāo)對(duì)接點(diǎn)進(jìn)行調(diào)姿以實(shí)現(xiàn)精準(zhǔn)對(duì)接被動(dòng)目標(biāo)對(duì)接點(diǎn);最后固定主動(dòng)目標(biāo)對(duì)接點(diǎn)。樣機(jī)階段的精準(zhǔn)對(duì)接理論是:把全自動(dòng)快換裝置視為被動(dòng)目標(biāo),把下耦合件視為主動(dòng)目標(biāo);不完工被動(dòng)目標(biāo)布線艙,從而暴露出工作艙類似扳手空間的操作空間;通過4個(gè)耦合點(diǎn)實(shí)現(xiàn)全自動(dòng)快換裝置與下耦合件的連接;另外布置油源,在操作空間中先"對(duì)接"液壓管路,再"測(cè)量、調(diào)姿和最后固定"主動(dòng)目標(biāo)的液壓管路;完工被動(dòng)目標(biāo)布線艙。對(duì)上述2種條件下理論進(jìn)行了仿真驗(yàn)證。
[Abstract]:When the automatic quick change device for the wrist of the rescue robot is full-AQHCD, the automatic locking device is called the lower coupling device (LCPP), it is necessary to synchronize the precise docking and the automatic connection of the hydraulic pipe of the coupling piece. For this reason, The precise docking theory under the condition of digital measurement and analog measurement is put forward, which is used to guide the production of product stage and prototype stage, respectively. The precise docking theory in the product stage is that the automatic quick change device is regarded as the passive target, the lower coupling component is regarded as the active target, and the connection between the automatic quick change device and the lower coupling device is realized through four coupling points. By measuring and establishing the position-attitude relationship between the passive target coordinate system and the precise docking coordinate system, the passive target coordinate system, the active target coordinate system, and the precise docking coordinate system, the X1O1Y1 coordinate of the passive target docking point is transformed to the XOY coordinate, and then the X2O2Y2 coordinate of the active target docking point is transformed to the X2O2Y2 coordinate of the active target docking point. According to the active target docking point Xs _ 2O _ 2Y _ 2 coordinate, the active target docking point is adjusted to achieve the precise docking point of passive target; finally, the active target docking point is fixed. The precise docking theory in the prototype stage is that the automatic quick change device is regarded as a passive target, the lower coupling is regarded as an active target, and the cabling module of the passive target is not completed, thus exposing the operating space of the work module similar to the wrench space. Through four coupling points to realize the connection between the automatic quick change device and the lower coupling parts, the oil source is arranged in addition, the hydraulic pipe is "docked" in the operation space first, then "measures, adjusts the attitude and finally fixed" the hydraulic pressure pipeline which the active target is fixed. Complete passive target cabling. The theory is verified by simulation under the above two conditions.
【作者單位】： 北京航空航天大學(xué)機(jī)械工程及自動(dòng)化學(xué)院;北京航空航天大學(xué)機(jī)器人研究所;
【基金】：國家科技支撐計(jì)劃(2011BAF04B01)~~
【分類號(hào)】：TP242
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本文編號(hào)：1995075