冗余铺丝机械手自运动流形分析及优化

发布时间：2018-10-25 17:58

【摘要】：针对传统位姿分离式铺丝机械手灵活性不足的特点,为了提高航空复合材料铺丝过程的灵活性和避障碍能力,提出一种位姿耦合式冗余铺丝机械手自运动流形的新算法。由于冗余铺丝机械手各关节之间的强耦合性增加了逆解的求解难度,该算法将冗余铺丝机械手的关节逆解分解为已知的Paden-Kahan旋量子问题以及由位置关节组成的特殊旋量子问题,并针对特殊旋量子问题进行求解得到冗余铺丝机械手全部逆解,这样相对于位姿分离式解法有效提高了冗余铺丝机械手逆解的求解效率以及求解直观性。由于冗余铺丝机械手的逆解呈现出流形的结构,所以根据冗余铺丝机械手自运动流形的多维特性,将冗余铺丝机械手的自运动流形分别映射到位置关节空间和姿态关节空间得到其三维仿真曲线。由于冗余铺丝机械手逆解流形中的优化流形在实际控制中更具应用价值,所以在铺丝机械手末端执行器沿芯模轨迹运动速度平稳的前提下为了使机械手各关节速度变化最小,提出以冗余铺丝机械手关节速度组成的约束泛函为目标得到相应的运动学优化流形,并为后续的最优控制奠定了基础。最后以某型号飞机S形进气道为例验证了所提方法的可行性。
[Abstract]:In order to improve the flexibility and obstacle avoidance ability of the traditional position and pose separated wire laying manipulator, a new self-moving manifold algorithm for the position and pose coupling redundant laying manipulator is proposed in order to improve the flexibility and obstacle avoidance ability of the composite wire laying process. Because of the strong coupling between the joints of the redundant filament-laying manipulator, the inverse solution is difficult to solve, so the inverse solution of the redundant filament-laying manipulator is decomposed into the known Paden-Kahan spin quantum problem and the special rotatory quantum problem composed of the position joints. The inverse solution of redundant wire-laying manipulator is obtained by solving the special spin quantum problem, which improves the efficiency and intuitiveness of solving the inverse solution of the redundant wire-laying manipulator effectively compared with the position and pose separation method. Since the inverse solution of the redundant wire laying manipulator presents the structure of manifold, according to the multidimensional characteristics of the self-moving manifold of the redundant wire laying manipulator, The self-moving manifold of redundant filament-laying manipulator is mapped to position joint space and attitude joint space respectively to obtain its three-dimensional simulation curve. Because the optimal manifold of the redundant wire laying manipulator is more valuable in practical control, so the end actuator of the manipulator moves smoothly along the core mold trajectory in order to minimize the change of the joint velocity of the manipulator. Based on the constraint functional of the joint velocity of the redundant wire-laying manipulator, the corresponding kinematics optimization manifold is proposed, which lays the foundation for the subsequent optimal control. Finally, the feasibility of the proposed method is verified by taking the S-shaped inlet of a certain type of aircraft as an example.
【作者单位】：南京航空航天大学机电学院;
【基金】：国家自然科学基金(51175261) 国家“973”计划(2014CB046501) 高等学校博士学科点专项科研基金(20123218110020)~~
【分类号】：TP241

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