【摘要】：利用3-SPR并聯(lián)機構(gòu)設(shè)計了一種新型機器人曲面制孔末端執(zhí)行器。根據(jù)3-SPR型并聯(lián)機構(gòu)的特點,結(jié)合曲面制孔末端執(zhí)行器的設(shè)計要求,將該并聯(lián)機構(gòu)作為曲面制孔末端執(zhí)行器的調(diào)姿壓緊機構(gòu)。在該調(diào)姿壓緊機構(gòu)運動學(xué)分析的基礎(chǔ)上,給出了本文研究的并聯(lián)制孔末端執(zhí)行器刀具姿態(tài)調(diào)整算法。在末端執(zhí)行器刀具四周均布的四個距離傳感器測得曲面上制孔點周圍四點數(shù)據(jù)的基礎(chǔ)上,計算獲得該四點在同一坐標(biāo)系下的坐標(biāo),結(jié)合已知的制孔點坐標(biāo),給出了一種基于矢量加權(quán)求和的新曲面法向測量算法。并對該算法與球面擬合的法向測量算法進行了仿真對比,可知本文設(shè)計的新算法在法向測量時有更高的精度。對制孔末端執(zhí)行器并聯(lián)調(diào)姿機構(gòu),采用拉格朗日方程建立了該機構(gòu)的動力學(xué)模型,得到了驅(qū)動力的顯示解,為進一步分析末端執(zhí)行器調(diào)姿機構(gòu)動力學(xué)控制提供數(shù)學(xué)模型。基于該數(shù)學(xué)模型對末端執(zhí)行器并聯(lián)調(diào)姿機構(gòu)動力學(xué)特性進行了仿真分析,根據(jù)驅(qū)動力的顯示解,模擬動平臺姿態(tài)變化時驅(qū)動力的變化曲線,得到姿態(tài)調(diào)整中各驅(qū)動力的變化情況。同時對動平臺加載與不加載時,驅(qū)動力的變化情況進行對比,給出了各支鏈可以忽略質(zhì)量的條件。分析驅(qū)動力變化與機構(gòu)結(jié)構(gòu)參數(shù)之間的關(guān)系,為機構(gòu)動力學(xué)特性的深入分析及其用于制孔執(zhí)行器的優(yōu)化設(shè)計提供了參考。以所設(shè)計調(diào)姿機構(gòu)動力學(xué)方程為模型,設(shè)計了基于該模型的修正PD控制策略及滑模變結(jié)構(gòu)控制策略。通過仿真說明對于該動力學(xué)模型,基于趨近律的滑模變結(jié)構(gòu)控制器比PD控制器具有更好的魯棒性,更適合于該末端執(zhí)行器并聯(lián)調(diào)姿機構(gòu)。對所建立末端執(zhí)行器制孔單元的進給系統(tǒng)數(shù)學(xué)模型,采用傳統(tǒng)的PID控制器與有自適應(yīng)特點的模糊PID控制器。通過仿真分析得出模糊PID策略更適合用于制孔單元進給系統(tǒng)。
[Abstract]:Using 3-SPR parallel mechanism, a new type of robot curved hole end actuator is designed. According to the characteristics of the 3-SPR parallel mechanism and the design requirements of the curved hole making end actuator, the parallel mechanism is used as the adjusting and compacting mechanism of the curved hole making end actuator. On the basis of kinematics analysis of the attitude adjusting and compacting mechanism, a tool attitude adjustment algorithm of parallel hole end actuator is presented in this paper. On the basis of the data of four points around the hole making point on the curved surface measured by four distance sensors distributed evenly around the end actuator tool, the coordinates of the four points in the same coordinate system are calculated and combined with the known coordinates of the hole making point. A new surface normal measurement algorithm based on vector weighted summation is presented. Compared with the normal measurement algorithm of spherical surface fitting, the new algorithm designed in this paper has higher accuracy in normal measurement. The dynamic model of the mechanism is established by Lagrangian equation, and the display solution of driving force is obtained, which provides a mathematical model for the further analysis of the dynamic control of the end-actuator attitude adjusting mechanism. Based on the mathematical model, the dynamic characteristics of the parallel attitude adjusting mechanism of the end actuator are simulated. According to the display solution of the driving force, the change curve of the driving force during the attitude change of the moving platform is simulated. The change of driving force in attitude adjustment is obtained. At the same time, the change of driving force is compared between dynamic platform loading and non-loading, and the condition that the quality of each branch chain can be neglected is given. The relationship between the change of driving force and the structural parameters of the mechanism is analyzed, which provides a reference for the in-depth analysis of the dynamic characteristics of the mechanism and its application in the optimization design of the hole making actuator. The modified PD control strategy and sliding mode variable structure control strategy are designed based on the dynamic equation of the designed attitude adjusting mechanism. The simulation results show that the sliding mode variable structure controller based on approach law is more robust than the PD controller and is more suitable for the parallel attitude adjustment mechanism of the end actuator. The traditional PID controller and the fuzzy PID controller with adaptive characteristics are used for the mathematical model of the feed system of the end actuator hole making unit. Simulation results show that fuzzy PID strategy is more suitable for feed system of hole making unit.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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