纤维铺丝机械手运动轨迹控制的研究

发布时间：2018-07-04 14:24

本文选题：纤维铺丝 + 机械手　；参考：《武汉理工大学》2012年硕士论文

【摘要】：本文详细讨论了大曲率复杂型面构件的复合材料铺丝成型技术。在已有的对复合材料构件结构及铺放工艺、铺层设计研究的基础上,针对该类构件铺放型面曲率大、跨度大、变截面的特点,本文提出了利用六轴机械手加旋转主轴的多路铺丝工艺来解决变截面、跨度大以及型面复杂的问题。由于构件体积大从而导致铺丝路径复杂且要处理的数据量大,本文提出用45。辅助平面与分割曲线求交的方法迭代逐一求解铺丝点,然后通过三次样条曲线拟合各铺丝点从而求得铺丝路径,接下提出了一种有效可行的多丝束切丝算法,并将其与铺丝信息集成,以借助CAD技术的优势将铺丝过程中复杂的运动控制问题集中在各铺丝点上,将这些信息集中存储调用,避开对铺放路径的讨论,以简化路径规划方法和后续的运动控制问题。在经过前期铺丝路径规划得到铺丝点的欧拉角、位置矢量以及切丝丝数等信息的前提下,在运动控制的具体实现方法上,基于本文讨论的铺丝结构存在冗余自由度,提出了将铺放终端的运动锁定在某一铺放平面内,通过机械手和主轴的协调运动使两者最终的合成运动轨迹与规划的路径保持一致。在运动信息的处理问题上,本文提出运动控制的实现集中于铺丝点和铺丝点间的联系上,将铺丝点作为运动控制信息的集合点,只需满足铺丝点及铺丝点间相互联系的要求,而忽略路径问题,使铺放运动的控制问题得到简化。此后,详细讨论了由已求得的接近矢量求解各关节转角和主轴转角的方法以及控制实现方法,为铺丝运动控制的工程应用提供了有效可行的途径。本文采用IPC+PMAC的开放式控制结构,并搭建了简易的硬件控制平台对提出的方法进行验证。最后,结合铺放装备的发展方向,提出了通过开发基于Windows的铺放应用程序模块的设计方法来解决铺丝当中处理的数据量大、运动控制复杂等问题,利用铺放应用程序来处理铺放前期的铺放点信息以及切丝等问题,而由PMAC来完成后期的机械手运动控制,为纤维铺丝机械手运动轨迹控制的工程应用提供了方案,并开发了用于机械手运动轨迹控制的软件模块,该模块能够实现预期的功能,并且具有开发周期短、扩展升级简单的优点。最后通过简易的试验进行验证证明了方案可行性。
[Abstract]:In this paper, the forming technology of composite wire laying for large curvature complex surface member is discussed in detail. On the basis of the existing research on composite component structure and laying process and layer design, aiming at the characteristics of large curvature, large span and variable cross-section of this kind of members, In this paper, a multiplex wire laying process with six-axis manipulator and rotating spindle is proposed to solve the problems of variable cross-section, large span and complex shape surface. Due to the large size of the component, which leads to the complexity of the laying path and the large amount of data to be processed, this paper proposes to use 45. 5%. The method of intersecting the auxiliary plane and the partition curve iteratively solves the wire laying points one by one, and then through the cubic spline curve fitting each thread laying point to obtain the laying path, and then puts forward an effective and feasible multi-filament bundle cutting algorithm. By integrating it with the information of wire laying, the complex motion control problems in the process of laying wire can be concentrated on each wire laying point by virtue of the advantage of CAD technology, and the information can be stored and transferred centrally, so as to avoid the discussion of laying path. In order to simplify the path planning method and the subsequent motion control problem. On the premise of obtaining the information of Euler angle, position vector and filaments number of the wire laying point after the pre-laying path planning, there is redundancy degree of freedom in the motion control method based on the wire laying structure discussed in this paper. It is proposed that the motion of the placement terminal is locked in a certain laying plane, and the final synthetic motion trajectory of the manipulator and the spindle are consistent with the planned path through the coordinated motion of the manipulator and the spindle. On the problem of motion information processing, this paper puts forward that the realization of motion control is focused on the connection between wire laying point and wire laying point, and the thread laying point is regarded as the gathering point of motion control information, which only needs to meet the requirements of wire laying point and the interrelation between wire laying points. The control problem of laying motion is simplified by ignoring the path problem. After that, the method of solving the joint angle and spindle angle from the obtained approach vector and the control method are discussed in detail, which provides an effective and feasible way for the engineering application of wire-laying motion control. In this paper, the open control structure of IPC PMAC is adopted, and a simple hardware control platform is built to verify the proposed method. Finally, combined with the development direction of laying equipment, the paper puts forward a design method to solve the problems of large amount of data and complex motion control in laying wire by developing the application module based on Windows. The application program is used to deal with the information of laying point in the early stage of laying and the problem of cutting silk, while PMAC is used to complete the motion control of the manipulator in the later stage, which provides a scheme for the engineering application of the motion trajectory control of the fiber laying manipulator. A software module for manipulator trajectory control is developed. The module can realize the expected function and has the advantages of short development period and simple expansion and upgrade. Finally, the feasibility of the scheme is proved by simple test.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH164

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