复合驱动模块化可重构柔索并联机器人结构设计、协同避障及动力学研究

发布时间：2018-02-11 12:33

本文关键词： 柔索并联机构运动学力封闭工作空间协同避障耦合动力学模型　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：本文依托于国家自然科学基金"电液复合驱动模块化可重构柔索并联机器人动态耦合特性、控制技术及实验研究(51575150)"项目,以模块化可重构柔索并联机器人为研究对象,对其机构创新设计、机构运动学与静力学分析,力封闭工作空间分析评价,复杂环境下的协同保障以及动力学建模仿真以及实验开展等问题进行了研究,本文完成的主要工作归纳如下:1.本文介绍了电液复合驱动模块化可重构柔索并联装备实验平台的硬件系统构成,并对其机构的重构原理及多种基本构型进行了阐述;通过机构创新设计,提出了一种新型索杆复合驱动的可重构串并联码垛机器人,并对其机构工作原理以及几种重构构型进行了详细阐述。2.本文分别对电液复合驱动模块化可重构柔索并联装备实验平台与设计提出的新型索杆复合驱动的可重构串并联码垛机器人的运动学以及静力学进行了系统分析,并建立了统一的力封闭工作空间求解模型。本文还提出了一种针对柔索驱动模块化可重构串并联机构的快速力封闭工作空间求解算法。并利用MATLAB对机器人的运动学及力封闭工作空间进行分析计算与评价。3.本文针对模块化可重构柔索并联机器人对其不同工作环境下的协同避障方法进行了探讨。文中通过简化分析将可重构柔索并联机器人的协同避障工作环境被分为大型单一障碍物下与复杂作业环境下两种。其中对于大型单一障碍物下的协同避障作业,本文提出了基于计算几何及人工势场法的柔索并联机器人协同避障方法。对于复杂作业环境下协同避障作业,文中首先通过简化建立起其一般模型,并在此基础上利用计算几何、凸包映射算法及多指抓握等理论,对不同构型及障碍物分布下的可重构柔索并联机器人无碰撞力封闭工作空间进行了计算,随后本文提出了可实现最优索力分布的协同避障算法,并通过MATLAB平台及实验对所提出的算法进行了分析及验证。4.本文建立了电液复合驱动模块化可重构柔索并联装备实验平台的耦合动力学模型。文中基于拉格朗日法建立了考虑驱动器及柔索弹性的耦合动力学模型。随后通过MATLAB平台分别对传统动力学模型及所建立的耦合动力学模型进行了分析与比较。对驱动器及柔索弹性对系统动力学模型的耦合作用进行了初步分析与研究。
[Abstract]:This paper is based on the project of National Natural Science Foundation "dynamic coupling characteristics, control technology and experimental research of modularized reconfigurable flexible cable parallel robot with electro-hydraulic compound drive", and takes modularized reconfigurable flexible cable parallel robot as the research object. The innovative design of mechanism, kinematics and statics analysis of mechanism, analysis and evaluation of force closed workspace, collaborative support in complex environment, dynamic modeling, simulation and experimental development are studied. The main work accomplished in this paper is summarized as follows: 1. This paper introduces the hardware system of the modular reconfigurable flexible cable parallel equipment experiment platform with electro-hydraulic compound drive, and expounds the principle of mechanism reconstruction and various basic configurations. A new reconfigurable series-parallel palletizing robot driven by cable-rod composite is proposed through the innovative design of the mechanism. At the same time, the working principle of the mechanism and several reconfiguration configurations are described in detail. 2. In this paper, the modular reconfigurable flexible cable parallel equipment experimental platform and the new reconfigurable cable-rod composite drive are presented in this paper. The kinematics and statics of series-parallel palletizing robot are analyzed systematically. A unified force closed workspace solution model is established. A fast force closed workspace solution algorithm for flexible cable driven modular reconfigurable series-parallel mechanisms is also proposed. The robot motion is obtained by using MATLAB. This paper discusses the cooperative obstacle avoidance method of modular reconfigurable flexible cable parallel robot under different working environments. In this paper, the reconfigurable parallel robot can be reconfigurable through simplified analysis. The cooperative obstacle avoidance environment of flexible cable parallel robot is divided into two kinds: large single obstacle environment and complex operation environment. This paper presents a cooperative obstacle avoidance method for flexible cable parallel manipulators based on computational geometry and artificial potential field method. Based on the computational geometry, convex hull mapping algorithm and multi-finger grip theory, the closed workspace of reconfigurable flexible cable parallel robot with different configurations and obstacles is calculated. Then, a cooperative obstacle avoidance algorithm which can realize the optimal distribution of cable force is proposed in this paper. The proposed algorithm is analyzed and verified by MATLAB platform and experiment. In this paper, the coupling dynamic model of the experimental platform of modularized reconfigurable flexible cable parallel equipment with electro-hydraulic compound driving is established. The model is based on Lagrangian method. A coupling dynamic model considering actuator and cable elasticity is established, and then the traditional dynamic model and the coupled dynamic model are analyzed and compared by MATLAB platform. The actuator and flexible cable elastic pair are analyzed and compared respectively. The coupling effect of system dynamics model is analyzed and studied.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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