配电线路维护机器人运动规划与实验研究

发布时间：2018-03-06 00:19

本文选题：机械臂　切入点：运动学　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：配电线路带电作业应用极其广泛,采用机器人代替人工进行配电线路维护作业,可使作业人员摆脱高空、高压和强磁场的危险作业环境,最大限度地保证作业人员的安全,具有重要的现实意义。本文围绕某带电作业机器人研发项目,对关节式机器人的运动学建模、路径规划、轨迹优化、双臂协同等方法开展理论与实验研究,以满足配电线路维护作业对机器人运动准确、平稳、柔顺和安全的要求。本文主要完成了以下工作:1)在介绍配电线路维护机器人系统整体结构的基础上,结合线路维护作业任务对机器人的控制要求,分析了机械臂的运动特点,设计了机械臂的动作方案。2)以优傲机械臂为例,采用DH参数法建立了 UR5机械臂的运动学模型,基于数值解析法给出了机械臂逆运动学求解方程。结合机械臂参数,求解出机械臂关节的运动范围;采用蒙特卡洛法仿真分析了机械臂的工作空间,给出了机械臂末端的工作区域。基于椭球包围盒的碰撞检测法,设计了机械臂的避碰算法。3)针对配电线路维护机器人运动轨迹平滑性与精准性要求,开展机械臂轨迹优化研究。采用五次多项式插值与三次B样条插值法,在关节空间对机械臂运动轨迹进行规划。进一步,为优化B样条插值的时间点,提出了一种基于遗传算法的最小时间-加加速度优化算法,有效提高了作业效率。对任务空间轨迹规划可能出现的奇异点和关节速度过大问题,设计了相应的解决方案。4)针对配电线路维护作业对机械臂避障功能的要求,为机械臂末端8字形运动轨迹设计了相应的轨迹规划算法,并在自行构建的机械臂运动编程软件平台上实现。实验结果表明,所设计的轨迹规划算法可使机械臂平稳地实现复杂轨迹的运动,可重复性好。设计了双机械臂协同拧瓶盖的模拟实验,并获得了理想的实验结果。针对配电线路维护中最为常见的安装和拆卸螺母操作,设计了机械臂拧螺母实验,实验结果表明机械臂运动规划能够实现拧螺母的基本动作。
[Abstract]:Distribution line live operation is widely used. Using robot instead of manual to carry out distribution line maintenance can make the operator get rid of the dangerous working environment of high altitude, high pressure and strong magnetic field, and ensure the safety of the operator to the maximum extent. In this paper, the kinematics modeling, path planning, trajectory optimization, dual-arm coordination and other methods of joint robot are studied in theory and experiment around the research and development project of a electrified robot. In order to meet the requirements of accurate, smooth, compliant and safe movement of the robot for distribution line maintenance, this paper mainly completed the following work: 1) on the basis of introducing the overall structure of the distribution line maintenance robot system, According to the control requirements of the robot for the line maintenance task, the kinematic characteristics of the manipulator are analyzed, and the action scheme of the manipulator is designed. Taking the superior arm as an example, the kinematics model of the UR5 manipulator is established by using DH parameter method. Based on the numerical analysis method, the inverse kinematics equation of the manipulator is given. The kinematic range of the manipulator joint is solved by combining the parameters of the manipulator, and the workspace of the manipulator is simulated and analyzed by Monte Carlo method. Based on the collision detection method of ellipsoidal bounding box, the collision avoidance algorithm .3 is designed to meet the requirements of smoothness and accuracy of the trajectory of the distribution line maintenance robot. In order to optimize the time point of B-spline interpolation, the trajectory of manipulator is planned in joint space by means of polynomial interpolation and cubic B-spline interpolation. In this paper, a minimum time-acceleration optimization algorithm based on genetic algorithm is proposed, which can effectively improve the operation efficiency. The corresponding solution. 4) aiming at the requirements of the obstacle avoidance function of the distribution line maintenance operation, the corresponding trajectory planning algorithm is designed for the 8 zigzag trajectory at the end of the manipulator. The experiment results show that the trajectory planning algorithm can make the manipulator realize the movement of complex trajectory smoothly. Good repeatability. The simulation experiment of double mechanical arm synergetic screw cap is designed, and the ideal experimental results are obtained. Aiming at the most common operation of installing and disassembling nut in the maintenance of distribution line, the experiment of mechanical arm screw nut is designed. The experimental results show that the motion planning of the manipulator can realize the basic action of the nut.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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