面向船体外表面喷涂的大尺度移动机械臂定位及运动控制研究

发布时间：2018-04-25 01:32

本文选题：移动喷涂机械臂 + 大尺度船舶表面　；参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：表面喷涂是机械类、电器类外壳等产品制造工艺中表面防腐防锈蚀处理的重要一环。相对于体积较小的产品外表面喷涂而言,面向大型复杂表面的喷涂技术在尺度以及自动化程度上仍然面临巨大挑战,尤其在大型船舶表面喷涂领域,当前仍主要依赖人工完成,不仅效率低、喷涂质量不稳定,并且工况环境恶劣,对工人伤害大,因此开展面向大型船体分段自动喷涂技术的研究对提高喷涂效率与质量具有重要意义。本文结合国家科技支撑项目课题“超大船体分段自动喷涂成套设备研制”,针对一款面向大型船体分段的新型自动化移动喷涂机器人,开展大型船体分段定位技术,大尺度移动机械臂定位、运动学以及控制方法相关关键技术研究。首先,开展大型船舶分段定位技术研究。以表面特征点的测绘为基础,结合坐标变换,采用全站仪用于确定船体、移动机械臂及信标之间相对位置关系,基于后方交会法原理,建立了全站仪测量系统测量误差分析数学模型,分析了全站仪建站位置因素对测量误差的影响规律,在此基础上确定了建站位置关系,并进行了实验验证。其次,进行移动机械臂实时相对定位技术研究。针对大型船体分段表面喷涂环境,提出了一种改进的三边信标绝对定位方法,采用SICK激光雷达实时扫描实现信标的数据分割、信标外轮廓的识别,引入定位权值实现的信标选取和数据处理,建立了误差分析模型用于分析误差产生原因及降低方法,并通过实验对移动机械臂定位方法进行了验证。然后,进行大尺度移动机械臂运动学分析。以提高喷涂效率为目标,制定了移动机械臂喷涂策略以及喷涂路径规划;利用激光跟踪仪标定机械臂结构参数,并基于D-H法进行运动学分析;针对4轮移动平台特点,制定了运动及控制策略。最后,针对工程液压机械臂无反馈、模拟量控制的问题,进行液压驱动移动机械臂数字化控制系统设计。通过在各个运动关节增加了反馈检测环节,解算运动控制量与关节状态的关系,建立数字控制接口,实现了大尺度移动机械臂数字化反馈控制,最后完成搭载6自由度喷涂机械臂进行模拟船体喷涂的实验。
[Abstract]:Surface spraying is an important part of surface anticorrosion and corrosion prevention in mechanical and electrical products. Compared with the outer surface spraying of small products, the spraying technology for large and complex surfaces still faces great challenges in scale and automation, especially in the field of surface spraying of large ships, which still relies mainly on manual painting, especially in the field of surface spraying of large ships. Not only the efficiency is low, the quality of spraying is unstable, but also the working condition is bad, which is harmful to the workers. Therefore, it is very important to develop the technology of automatic spraying for large hull sections to improve the efficiency and quality of spraying. In this paper, a new automatic mobile spraying robot for large hull segments is developed, which is based on the national science and technology support project, "the complete set of equipment for automatic spraying of large hull segments", which aims at a new type of automatic mobile spraying robot for large hull segments. Research on key Technologies of large-scale Mobile manipulator location, Kinematics and Control methods. First of all, the research on segmented positioning technology of large-scale ships is carried out. Based on the mapping of surface feature points and coordinate transformation, the total station is used to determine the relative position relationship between ship hull, moving manipulator and beacon, based on the principle of rear intersection. The mathematical model of measuring error analysis of total station measuring system is established, and the influence law of the location factor of total station construction on the measurement error is analyzed. On the basis of this, the position relation of total station construction system is determined, and the experimental verification is carried out. Secondly, the real-time relative positioning technology of mobile manipulator is studied. In this paper, an improved three-sided beacon absolute positioning method is proposed for large hull segmented surface spraying environment. The real-time scanning of SICK lidar is used to realize the data segmentation of the beacon and the recognition of the outer contour of the beacon. By introducing the beacon selection and data processing realized by positioning weights, the error analysis model is established to analyze the causes of errors and the methods of reducing the errors, and the positioning method of mobile manipulator is verified by experiments. Then, kinematics analysis of large-scale mobile manipulator is carried out. In order to improve the spraying efficiency, the spraying strategy and the spray path planning of the mobile manipulator are worked out, the structure parameters of the manipulator are calibrated by laser tracker, and the kinematics analysis based on D-H method is carried out. The motion and control strategies are formulated. Finally, the digital control system of hydraulic driven mobile manipulator is designed to solve the problem of no feedback and analog control of hydraulic manipulator. By adding feedback detection link to each moving joint and calculating the relationship between motion control quantity and joint state, the digital control interface is established, and the digital feedback control of large scale mobile manipulator is realized. Finally, the experiment of simulating ship spraying with 6 DOF spraying manipulator is completed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U671

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