复杂型面的机器人自动铺放后处理技术研究
发布时间：2018-10-23 19:46
【摘要】：本文以机器人自动铺放平台为研究背景,为满足复杂型面模具的铺放需求,针对含有旋转主轴和平移导轨的多自由度机器人铺放平台,设计了一套后置处理算法。该算法可以实现机器人、主轴、导轨三者联动,以实现复杂型面构件的自动铺丝制造。本文首先分析了机器人自动铺丝平台的结构组成,详细分析了六轴工业机器人的运动范围与其工作空间,最后确定了机器人的灵巧空间,并通过机器人的灵巧空间确定了旋转主轴位置,并搭建起虚拟仿真铺丝平台。其次研究了机器人铺放平台的后置处理算法。设计了面向后置处理算法计算的数据结构,以及计算切向量、旋转矩阵的方法,并通过旋转矩阵计算了机器人姿态信息。对于外部轴的后置处理,本文分别介绍了导轨和旋转主轴的后置处理方法,并引入了奇异点计算进行轨迹的修正,发现等高度算法在规避奇异点方面表现出很大优势。最终确定,自动铺丝平台的最终后置处理算法为以模具上轨迹点为参考的导轨平移算法,结合以手轴交点为参考的等高度后置处理算法,同时引入奇异点计算进行算法修正。再次对机器人后置处理算法进行了优化。采用最小二乘法对后置处理得到的主轴转角进行直线拟合,以消除某些区间内主轴的频繁摆动。对主轴转速较大的过棱区域进行了轨迹优化,消除了轨迹的扭折。对整体后置处理结果进行了奇异点规避,以消除机器人在运动过程中经过奇异点产生的错误,提高了铺放效率。最后在仿真环境下进行了虚拟自动铺放的仿真,展示了机器人后置处理算法及优化的实际铺放效果,验证了该算法的可行性。
[Abstract]:In this paper, a set of post-processing algorithm is designed for the multi-degree-of-freedom robot placement platform with rotating spindle and translation guide rail, in order to meet the needs of the complex surface mold placement, taking the robot automatic placement platform as the research background, and in order to meet the needs of the complex surface mold placement, a post-processing algorithm is designed for the multi-degree-of-freedom robot placement platform. The algorithm can realize the linkage of robot, spindle and guide rail, so as to realize the automatic wire laying manufacturing of complex surface components. In this paper, the structure of the robot automatic wire laying platform is analyzed, and the moving range and workspace of the six-axis industrial robot are analyzed in detail. Finally, the dexterous space of the robot is determined. The rotation spindle position is determined by the dexterous space of the robot, and a virtual simulation wire laying platform is built. Secondly, the post processing algorithm of robot placement platform is studied. The data structure for post-processing algorithm, the method of calculating tangent vector and rotation matrix are designed, and the attitude information of robot is calculated by rotation matrix. For the post-processing of the external axis, this paper introduces the post-processing methods of the guide rail and the rotating spindle, and introduces the singular point calculation to modify the trajectory. It is found that the equal-height algorithm has a great advantage in avoiding singularity points. Finally, the final post-processing algorithm of the automatic wire laying platform is the guide track translation algorithm with the reference of the track point on the mould, and the equal-height post-processing algorithm with the reference of the hand axis intersection point. Meanwhile, the singular point calculation is introduced to modify the algorithm. The post-processing algorithm of robot is optimized again. The method of least square is used to fit the rotation angle of the spindles in order to eliminate the frequent swinging of the spindles in some regions. In order to eliminate the torsion of the trajectory, the trajectory of the cross-edge region with high spindle speed is optimized. In order to eliminate the error caused by the singularity point in the motion process of the robot and improve the laying efficiency, the global post-processing results are circumvented by singularity points in order to eliminate the errors caused by the singularity points in the motion of the robot. Finally, the simulation of virtual automatic placement is carried out in the simulation environment, which shows the post-processing algorithm of the robot and the optimized practical placement effect, which verifies the feasibility of the algorithm.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2290292
[Abstract]:In this paper, a set of post-processing algorithm is designed for the multi-degree-of-freedom robot placement platform with rotating spindle and translation guide rail, in order to meet the needs of the complex surface mold placement, taking the robot automatic placement platform as the research background, and in order to meet the needs of the complex surface mold placement, a post-processing algorithm is designed for the multi-degree-of-freedom robot placement platform. The algorithm can realize the linkage of robot, spindle and guide rail, so as to realize the automatic wire laying manufacturing of complex surface components. In this paper, the structure of the robot automatic wire laying platform is analyzed, and the moving range and workspace of the six-axis industrial robot are analyzed in detail. Finally, the dexterous space of the robot is determined. The rotation spindle position is determined by the dexterous space of the robot, and a virtual simulation wire laying platform is built. Secondly, the post processing algorithm of robot placement platform is studied. The data structure for post-processing algorithm, the method of calculating tangent vector and rotation matrix are designed, and the attitude information of robot is calculated by rotation matrix. For the post-processing of the external axis, this paper introduces the post-processing methods of the guide rail and the rotating spindle, and introduces the singular point calculation to modify the trajectory. It is found that the equal-height algorithm has a great advantage in avoiding singularity points. Finally, the final post-processing algorithm of the automatic wire laying platform is the guide track translation algorithm with the reference of the track point on the mould, and the equal-height post-processing algorithm with the reference of the hand axis intersection point. Meanwhile, the singular point calculation is introduced to modify the algorithm. The post-processing algorithm of robot is optimized again. The method of least square is used to fit the rotation angle of the spindles in order to eliminate the frequent swinging of the spindles in some regions. In order to eliminate the torsion of the trajectory, the trajectory of the cross-edge region with high spindle speed is optimized. In order to eliminate the error caused by the singularity point in the motion process of the robot and improve the laying efficiency, the global post-processing results are circumvented by singularity points in order to eliminate the errors caused by the singularity points in the motion of the robot. Finally, the simulation of virtual automatic placement is carried out in the simulation environment, which shows the post-processing algorithm of the robot and the optimized practical placement effect, which verifies the feasibility of the algorithm.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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