电液混合驱动柔索并联运动平台运动分析及监测系统研究

发布时间：2018-04-28 04:38

本文选题：电液混合驱动 + 柔索并联运动平台　；参考：《中国矿业大学》2015年硕士论文

【摘要】：本文依托国家自然科学基金“大型重载起重吊装空间协作柔索并联构型装备机构的动态性能分析与协调控制技术研究(51275515)”项目,针对一种电液混合驱动柔索并联运动平台(EH-CPMP),对其三维建模、机构运动学研究、虚拟样机仿真分析、运动控制系统、安全监测系统以及实验开展等问题展开研究,本文完成的主要工作归纳如下:(1)对EH-CPMP平台进行三维建模,相比传统的柔索并联机器人,该平台具有电液驱动混合式、可重构模块化、塔架高度可调节的特点,其运动相对较复杂,本文主要考虑六根柔索的运动形式,进而将其简化为六电机协同工作的并联机构模型,并对其开展运动学研究,包括运动学正解和逆解,分别建立其运动学正逆解的求解方法,并且利用MATLAB编程求解其运动学正逆解。在运动学正解求解上,采用基于数值的位姿正解求解算法,并在六个自由度上与期望轨迹进行对比,验证了利用基于数值的位姿正解求解算法来求解EH-CPMP平台运动学正解的可行性。(2)对简化的六电机协同工作的并联机构模型进行虚拟样机仿真分析,在ADAMS中建立动力学模型,建模前对柔索模型进行合理的假设,然后对动力学模型的直线轨迹和圆弧轨迹进行求解,从仿真结果可以看出由于柔索自身存在柔弹性及自重等原因,导致末端执行器的运动轨迹与期望轨迹存在一定成都的偏差。(3)对EH-CPMP平台的运动控制软硬件分别进行设计,所设计的运动控制硬件系统主要包括伺服电机及其驱动器、运动控制器、工控机和配对电源;所设计的运动控制软件系统主要是通过LABVIEW编写上位机软件来控制运动控制器,并通过运动控制器进一步控制六柔索电机协同工作使末端执行器走相应的运动轨迹。实验研究表明:本文设计的运动控制系统基本满足运动控制要求,运动控制上存在一定的误差。(4)对EH-CPMP平台安全监测系统的软硬件分别进行设计,硬件结构方面主要包括传感器选型,监测电路板的制作;软件结构方面介绍了安全监测系统的上位机设计,包括三大功能模块:红外避障模块、惯性传感模块以及实时位置模块,重点是各模块的原理以及上位机和下位机的设计。实验研究表明:本文设计的安全监测系统基本满足安全监测要求。
[Abstract]:This paper relies on the project of the National Natural Science Foundation of China "dynamic performance Analysis and coordinated Control Technology Research of the large and heavy lifting Space Cooperative flexible Cable parallel configuration equipment Mechanism", 51275515). In this paper, a hybrid electro-hydraulic hybrid drive flexible cable parallel motion platform (EH-CPMPP) is studied, such as 3D modeling, kinematics research, virtual prototype simulation analysis, motion control system, safety monitoring system and experimental development, etc. The main work accomplished in this paper is summarized as follows: (1) 3D modeling of EH-CPMP platform. Compared with the traditional flexible cable parallel robot, the platform has the characteristics of hybrid electro-hydraulic drive, reconfigurable modularization and adjustable tower height. Its motion is relatively complex. This paper mainly considers the motion form of six flexible cables, and then simplifies it to a parallel mechanism model of six motors working together, and studies its kinematics, including forward and inverse kinematics solutions. The methods of solving the kinematics forward and inverse solutions are established respectively, and the kinematics forward and inverse solutions are solved by MATLAB programming. In the forward kinematics solution, a numerical algorithm is used to solve the forward kinematics, and the results are compared with the desired trajectory at six degrees of freedom. The feasibility of solving the forward kinematics solution of EH-CPMP platform by using the position-attitude forward solution algorithm based on numerical value is verified. The virtual prototype simulation analysis of the simplified parallel mechanism model with six motors working together is carried out, and the dynamic model is established in ADAMS. Before modeling, the flexible cable model is assumed reasonably, and then the linear and arc trajectories of the dynamic model are solved. From the simulation results, it can be seen that there are flexible elastic and deadweight reasons in the cable itself. The motion control hardware and software of EH-CPMP platform are designed respectively. The hardware system of motion control mainly includes servo motor and its driver. The motion control software system is designed to control the motion controller by LABVIEW. The motion controller further controls the six flexible cable motor to work together to make the end actuator follow the corresponding motion trajectory. The experimental results show that the motion control system designed in this paper basically meets the requirements of motion control, and there is a certain error in motion control. (4) the software and hardware of the security monitoring system of EH-CPMP platform are designed separately. The hardware structure mainly includes the sensor selection, the manufacture of the monitoring circuit board, the design of the upper computer of the safety monitoring system in the software structure, including three function modules: infrared obstacle avoidance module, Inertial sensing module and real-time position module, the emphasis is on the principle of each module and the design of upper computer and lower computer. The experimental results show that the safety monitoring system designed in this paper basically meets the requirements of safety monitoring.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH112;TP274

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