五自由度机械手轨迹规划研究及动力学分析

发布时间：2018-01-24 19:57

本文关键词： 机械手运动学分析轨迹规划研究动力学分析 OpenGL显示　出处：《浙江理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：在如今这样一个工业自动化的时代,机器人作为一种兴盛的自动化设备被广泛的应用于各行各业。由于它具有可广泛应用性、工作时效高、速度响应快、稳定性强、反复精度高,可以工作数十年,自动化水平非常高等特点[1]。以其特有的良性结构和柔性控制方式,从而具有传统机械无可比拟的优势,故而工业机器人的技术在快速发展。由于五自由机械手的灵活度高,被广泛的用于各个领域,为了使机械手的加工效率和精度大大提高,故针对五自由度机械手的运动规划的研究和分析具有重要的意义。五自由度机械手末端位姿控制涉及到末端位姿的描述,传统的S型加减速控制方法较少考虑末端轴矢量的变化,因此对末端位姿不能简单有效、准确控制,无法有效兼顾精度和效率等问题;并且由于五轴机械手的灵活度,故而关节角度存在多解问题,为解决五自由度机械手的逆解的多解问题,故而通过对实际工况的分析,加以关节角度的限制,将多解分为可合理选择的八种情况。本文以五轴驱动式串联机械手为对象,进行运动规划以及动力学研究。为了更好的分析机械手,首先根据国内外的五轴机械手的结构特征,确定五轴机械手的模型方案。用三维软件solidworks建立机械手的模型,并以该模型设计出大概的机构模型为本体,安装控制系统,搭建好实验平台。接着,对五自由度机械手进行运动学和动力学分析。基于D-H坐标系法,针对5R机械手进行坐标建模并确定其连杆参数,根据得到的运动学方程完成正逆解的运算;并针对五自由度机械手的多解问题进行分类讨论,合理的取解。通过拉格朗日法则推出系统动力学方程,把得到的动力学方程编写代码,将建立的三维模型导入到matlab软件中去,基于matlab软件对五自由度机械手进行运动学的验证与仿真;在visaul studio的编译环境利用OpenGL技术编写五自由度机械手的三维可视化仿真软件,来实现实时可操作性的五自由度机械手的仿真系统。根据机械手的运动学算法的模块来实现对机械手模型的运动控制,最终达到实时的动画效果[2]。本文最后对机械手的末端轨迹插补的研究,传统方法较少考虑末端轴矢量的变化,因此对末端位姿不能简单有效、准确控制,无法有效兼顾精度和效率等问题。为此提出了采用双NURBS曲线对末端位姿进行控制,利用非对称S型加减速控制方法进行轨迹规划。该算法能很好的解决末端控制精度不够高,控制过程复杂的弊端,并且能有效避免加加速度过大导致机构停止时振动过大的问题。通过仿真实验证明该算法简明高效、运行稳定、能够有效提高机械臂加工工件的效率和精度。
[Abstract]:In such an era of industrial automation, robots, as a thriving automation equipment, are widely used in various industries. Because of its wide application, high working efficiency, fast response. Strong stability, high repetition accuracy, can work for decades, automation level is very high. [1. Because of its unique benign structure and flexible control mode, which has the unparalleled advantages of traditional machinery, the technology of industrial robot is developing rapidly. Because of the high flexibility of the five-free manipulator. It is widely used in various fields in order to greatly improve the machining efficiency and precision of the manipulator. Therefore, it is of great significance to study and analyze the motion planning of five-degree-of-freedom manipulator. The end-position and attitude control of five-degree-of-freedom manipulator involves the description of end-position and pose. The traditional S-type acceleration and deceleration control method seldom considers the change of the terminal axis vector, so it can not be simple and effective, accurate control, can not effectively take into account the problems of accuracy and efficiency. And because of the flexibility of the five-axis manipulator, there are multiple solutions to the joint angle. In order to solve the multi-solution problem of the inverse solution of the five-degree-of-freedom manipulator, the joint angle is restricted by the analysis of the actual working conditions. The multi-solution can be divided into eight reasonable cases. This paper takes the five-axis drive series manipulator as the object, carries on the motion planning and the dynamics research, in order to analyze the manipulator better. Firstly, according to the structural characteristics of the five-axis manipulator at home and abroad, the model scheme of the five-axis manipulator is determined. The model of the five-axis manipulator is established by using the three-dimensional software solidworks. Based on this model, the control system is installed and the experimental platform is built. Then, the kinematics and dynamics analysis of the five-degree-of-freedom manipulator is carried out based on D-H coordinate system. The coordinate modeling of 5R manipulator and the determination of its connecting rod parameters are carried out, and the forward and inverse solutions are calculated according to the obtained kinematics equations. The multi-solution problem of five-degree-of-freedom manipulator is classified and discussed, and reasonable solution is obtained. The system dynamic equation is deduced by Lagrangian rule, and the obtained dynamic equation is coded. The 3D model is imported into the matlab software, and the kinematics of the five-degree-of-freedom manipulator is verified and simulated based on the matlab software. In the compiling environment of visaul studio, the three-dimensional visual simulation software of five-degree-of-freedom manipulator is compiled by using OpenGL technology. According to the kinematics algorithm module of manipulator to realize the motion control of manipulator model, and finally achieve the real-time animation effect. [2]. In the last part of this paper, the end trajectory interpolation of the manipulator is studied. The traditional method seldom considers the change of the terminal axis vector, so it is not simple and effective to control the terminal position and pose accurately. The problem of accuracy and efficiency can not be taken into account effectively. Therefore, a double NURBS curve is proposed to control the terminal position and pose. The asymmetric S-type acceleration and deceleration control method is used for trajectory planning. This algorithm can solve the disadvantages of the terminal control accuracy is not high enough and the control process is complex. The simulation results show that the algorithm is simple, efficient and stable, and can effectively improve the efficiency and precision of the machined workpiece.
【学位授予单位】：浙江理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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