空间余量最优的拼装机轨迹规划

发布时间：2018-05-08 17:57

本文选题：拼装机 + 轨迹规划　；参考：《浙江大学学报(工学版)》2017年03期

【摘要】：针对类矩形盾构管片拼装轨迹规划问题,阐述类矩形盾构管片拼装机的工作原理并推导其运动学正逆解.在机械手外轮廓上设置若干关键点,建立关键点空间余量最优模型,并将空间余量最大位姿作为管片拼装轨迹的中间段;在关节空间内采用多项式插值法获取平滑的起始段与结束段轨迹.最终形成的轨迹包括起始段、中间段和结束段:起始段为起点至空间余量最大位姿点轨迹段,中间段为空间余量最大位姿运动轨迹段,结束段为空间余量最大位姿点至终点轨迹段.仿真实验表明:该方法能够规划出从起点至终点的无碰平滑轨迹,使得类矩形盾构管片拼装机在狭窄空间内安全有效地完成管片递送任务.
[Abstract]:Aiming at the problem of trajectory planning of rectangular shield segment assembly, the working principle and kinematic inverse solution of the similar rectangular shield segment assembly machine are expounded. Some key points are set up on the outer outline of the manipulator, and the optimal model of the space allowance of the key points is established, and the maximum position and pose of the space allowance is taken as the middle section of the segment assembly track. In the joint space, polynomial interpolation method is used to obtain the smooth start and end trajectory. The final trajectory consists of the starting segment, the middle segment and the end section: the starting segment is the track segment from the starting point to the maximum position position point, and the middle section is the track segment of the space residual maximum posture movement. The end segment is the trajectory from the maximum position and pose point to the end point of the spatial margin. The simulation results show that the proposed method can plan the smooth path from the starting point to the end, and make the rectangular shield segment assembly machine safely and effectively complete the segment delivery task in the narrow space.
【作者单位】：上海交通大学机械与动力工程学院;
【基金】：国家自然科学基金资助项目(51375297;51275288) 上海市科学技术委员会资助项目(14DZ1207900) 上海市优秀学术带头人计划(14XD1402000)
【分类号】：U455.39

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