机械臂轨迹规划及动力学研究

发布时间：2018-04-08 16:20

本文选题：机械臂　切入点：运动学　出处：《山东大学》2017年硕士论文

【摘要】：以机械臂为代表的机器人在工业已经取得了长足发展,渗透入各行各业,并在各行各业中扮演着重要的角色。本课题基于山东省重点研发计划"太极推手机器人关键技术研究",以机械臂的研究为项目开发工作的出发点,为项目的开发、设计打下理论基础,论文内容包括以下几个部分:(1)首先,论文的第一部分首先对机械臂的相关技术的发展和国内外的研究情况进行了概述。然后,论文对机械臂的运动学进行了研究。运动学的研究包括机械臂建模的数学基础、关节坐标系建立、D-H表示法建立运动学方程,以及逆向运动学求解基本问题。根据项目需求,需要设计仿人机械臂,基于人体生物力学参数确定机械臂设计的尺寸数据,根据数据由D-H表示法构建机械臂的运动学方程并求出正逆运动学的解。然后通过MATLAB对正逆运动学方程解的表达式编程运算,根据D-H参数在Robotics Toolbox工具箱建立仿真模型,通过对比编程计算的计算结果和工具箱计算的结果对运动学方程解的表达式进行验证。(2)其次,研究机械臂的轨迹规划方法,研究涉及关节空间和笛卡尔空间两个方面。其中关节空间的轨迹规划是对机械臂各关节运动参数的规划,运用插值函数规划运动参数保证机械臂在运行时的平滑和稳定;笛卡尔空间的轨迹规划满足了机械臂末端在操作空间按期望路径运行的要求,是对机械臂末端运动参数的规划。本部分,论文阐述了相关插值算法的具体生成方法。(3)对机械臂的力学分析包括两个方面,一是机械臂处于平衡状态时的静力学研究,二是机械臂处于运动状态的动力学研究。静力学描述的是机械臂末端受力与各关节受力平衡的状态,通过雅克比矩阵得到对应的静力学方程;动力学研究的是机械臂的运动参数与各关节受力的关系,目的是得到为使机械臂达到某一期望运行状态所需的关节力矩输出。本文根据拉格朗日力学分析方法建立了动力学方程。(4)最后,论文分别对机械臂的轨迹规划算法和动力学进行仿真分析。利用Matlab/Simulink对轨迹规划方法进行仿真,分析仿真结果比较轨迹规划方法的应用效果,验证了算法的正确性和合理性。将UG下的实体模型导入ADAMS中,建立仿真模型,得到了期望轨迹下对应的各关节的力矩曲线。
[Abstract]:Robot, represented by robot arm, has made great progress in industry, infiltrating into various industries and playing an important role in various industries.This subject is based on the key R & D project of Shandong Province, "Research on the key Technology of Taiji Push-hand Robot", taking the research of robot arm as the starting point of the project development, laying a theoretical foundation for the development and design of the project.First of all, the first part of the thesis summarizes the development of the manipulator technology and the research situation at home and abroad.Then, the kinematics of the manipulator is studied.The research of kinematics includes the mathematical foundation of manipulator modeling, the establishment of joint coordinate system and the establishment of kinematics equation by D-H representation, and the basic problem of inverse kinematics solving.According to the requirements of the project, the humanoid robot arm is designed. Based on the biomechanical parameters of the human body, the dimension data of the manipulator design are determined. According to the data, the kinematics equation of the manipulator is constructed by D-H representation and the forward and inverse kinematics solution is obtained.Then, by programming the solution of forward and inverse kinematics equation by MATLAB, the simulation model is established in Robotics Toolbox toolbox according to D-H parameter.The expression of kinematics equation solution is verified by comparing the results of programming and toolbox. Secondly, the trajectory planning method of manipulator is studied, which involves two aspects: joint space and Cartesian space.The trajectory planning of the joint space is the planning of the motion parameters of each joint of the manipulator. The interpolation function is used to program the motion parameters to ensure the smooth and stable operation of the manipulator.The trajectory planning of Cartesian space satisfies the requirement that the end of the manipulator runs according to the desired path in the operating space, and it is also the planning of the kinematic parameters of the end of the manipulator.In this part, the specific generation method of the correlation interpolation algorithm is described. The mechanical analysis of the manipulator includes two aspects: one is the statics study of the manipulator in equilibrium, the other is the dynamics study of the manipulator in the moving state.Statics describes the equilibrium between the end force of the manipulator and the stress of each joint, and obtains the corresponding static equation by means of Jacobian matrix, and dynamics studies the relationship between the motion parameters of the manipulator and the force on each joint.The aim is to obtain the joint torque output required for the manipulator to reach a desired operating state.In this paper, the dynamic equation is established according to Lagrange mechanics analysis method. Finally, the trajectory planning algorithm and dynamics of manipulator are simulated and analyzed in this paper.The Matlab/Simulink is used to simulate the trajectory planning method, and the simulation results are compared with the results of the application of the trajectory planning method. The correctness and rationality of the algorithm are verified.The solid model based on UG is introduced into ADAMS, and the simulation model is established, and the torque curves of each joint under the desired trajectory are obtained.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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