【摘要】：本文以機器人自動鋪放平臺為研究背景,為滿足復(fù)雜型面模具的鋪放需求,針對含有旋轉(zhuǎn)主軸和平移導(dǎo)軌的多自由度機器人鋪放平臺,設(shè)計了一套后置處理算法。該算法可以實現(xiàn)機器人、主軸、導(dǎo)軌三者聯(lián)動,以實現(xiàn)復(fù)雜型面構(gòu)件的自動鋪絲制造。本文首先分析了機器人自動鋪絲平臺的結(jié)構(gòu)組成,詳細分析了六軸工業(yè)機器人的運動范圍與其工作空間,最后確定了機器人的靈巧空間,并通過機器人的靈巧空間確定了旋轉(zhuǎn)主軸位置,并搭建起虛擬仿真鋪絲平臺。其次研究了機器人鋪放平臺的后置處理算法。設(shè)計了面向后置處理算法計算的數(shù)據(jù)結(jié)構(gòu),以及計算切向量、旋轉(zhuǎn)矩陣的方法,并通過旋轉(zhuǎn)矩陣計算了機器人姿態(tài)信息。對于外部軸的后置處理,本文分別介紹了導(dǎo)軌和旋轉(zhuǎn)主軸的后置處理方法,并引入了奇異點計算進行軌跡的修正,發(fā)現(xiàn)等高度算法在規(guī)避奇異點方面表現(xiàn)出很大優(yōu)勢。最終確定,自動鋪絲平臺的最終后置處理算法為以模具上軌跡點為參考的導(dǎo)軌平移算法,結(jié)合以手軸交點為參考的等高度后置處理算法,同時引入奇異點計算進行算法修正。再次對機器人后置處理算法進行了優(yōu)化。采用最小二乘法對后置處理得到的主軸轉(zhuǎn)角進行直線擬合,以消除某些區(qū)間內(nèi)主軸的頻繁擺動。對主軸轉(zhuǎn)速較大的過棱區(qū)域進行了軌跡優(yōu)化,消除了軌跡的扭折。對整體后置處理結(jié)果進行了奇異點規(guī)避,以消除機器人在運動過程中經(jīng)過奇異點產(chǎn)生的錯誤,提高了鋪放效率。最后在仿真環(huán)境下進行了虛擬自動鋪放的仿真,展示了機器人后置處理算法及優(yōu)化的實際鋪放效果,驗證了該算法的可行性。
[Abstract]:In this paper, a set of post-processing algorithm is designed for the multi-degree-of-freedom robot placement platform with rotating spindle and translation guide rail, in order to meet the needs of the complex surface mold placement, taking the robot automatic placement platform as the research background, and in order to meet the needs of the complex surface mold placement, a post-processing algorithm is designed for the multi-degree-of-freedom robot placement platform. The algorithm can realize the linkage of robot, spindle and guide rail, so as to realize the automatic wire laying manufacturing of complex surface components. In this paper, the structure of the robot automatic wire laying platform is analyzed, and the moving range and workspace of the six-axis industrial robot are analyzed in detail. Finally, the dexterous space of the robot is determined. The rotation spindle position is determined by the dexterous space of the robot, and a virtual simulation wire laying platform is built. Secondly, the post processing algorithm of robot placement platform is studied. The data structure for post-processing algorithm, the method of calculating tangent vector and rotation matrix are designed, and the attitude information of robot is calculated by rotation matrix. For the post-processing of the external axis, this paper introduces the post-processing methods of the guide rail and the rotating spindle, and introduces the singular point calculation to modify the trajectory. It is found that the equal-height algorithm has a great advantage in avoiding singularity points. Finally, the final post-processing algorithm of the automatic wire laying platform is the guide track translation algorithm with the reference of the track point on the mould, and the equal-height post-processing algorithm with the reference of the hand axis intersection point. Meanwhile, the singular point calculation is introduced to modify the algorithm. The post-processing algorithm of robot is optimized again. The method of least square is used to fit the rotation angle of the spindles in order to eliminate the frequent swinging of the spindles in some regions. In order to eliminate the torsion of the trajectory, the trajectory of the cross-edge region with high spindle speed is optimized. In order to eliminate the error caused by the singularity point in the motion process of the robot and improve the laying efficiency, the global post-processing results are circumvented by singularity points in order to eliminate the errors caused by the singularity points in the motion of the robot. Finally, the simulation of virtual automatic placement is carried out in the simulation environment, which shows the post-processing algorithm of the robot and the optimized practical placement effect, which verifies the feasibility of the algorithm.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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