基于轨迹的3R串联搬运机械手动力学优化研究
发布时间：2019-02-16 06:06
【摘要】：机器人在现今的社会中扮演着越来越重要的角色,其中串联机械手更是因其灵活性在诸多领域起着不可替代的作用。然而随着机械手应用领域不断增多,任务难度不断增大,使机械手的动力学性能也需要有更严格的规定。因此提出一种串联机械手动力学优化方法,使其能够在与原型机相比动力学性能更佳的情况下完成搬运物料的工作。根据原型机结构绘制机械手机构示意图以及生产线实际工作空间。利用D-H变换对已经参数化的机械手模型进行分析,进而得到3R串联机械手的运动学参数表达式。得到表达式后,即可获得带有参数的机械手运动学正解,通过反求后可得到带有参数的机械手逆解,并选取随机点举例考察所得结果是否正确。根据生产任务要求,确定了机械手末端执行器的运行轨迹。由于已经给定路径点,首先可以使用运动学知识得出各关节角的变化情况。已知各关节角的变化情况后,进而使用三次插值的办法对各关节进行轨迹规划。运用拉格朗日函数计算带有参数的3R搬运机械手的各关节力矩表达式。首先定义了拉格朗日函数,并从速度角度推得机械手动能和位能,最终推出动力学方程通式。将模型的各项参数带入方程当中,获取了带有参数的各关节力矩的表达式,并带入实例求解以便后续的对比和验证。基于机械手的生产特点,选择合适的目标函数对机械手进行优化求解。根据前文已经求得的各关节力矩表达式求出总关节力矩,并选取轨迹上加速度最大处的总关节力矩作为目标函数。给出适当的约束条件并通过合适的优化方法对机械手进行动力学优化设计,求解出在该目标函数下使机械手具有更优良的加速性能的结构参数。最后,使用ADAMS仿真软件对机械手进行仿真,通过对比两机械手的关节力矩,验证了优化后的机械手动力学性能确实得到提升,同时验证了运动学、轨迹、动力学等公式推导的正确性。本研究将实际的工作情况和机器人理论分析建立在一起,采用直接对动力学模型优化的方法,对改善机械手的动力学性能提出较为有效的方案,为机械手进一步优化研究开启了新的思路和方向。
[Abstract]:Robots play a more and more important role in today's society, in which serial manipulator plays an irreplaceable role in many fields because of its flexibility. However, with the increasing of manipulator application field and the increasing difficulty of the task, the dynamic performance of manipulator also needs to be strictly regulated. Therefore, a dynamic optimization method for series manipulator is proposed, which can complete the material handling work under the condition that the dynamic performance of the manipulator is better than that of the prototype machine. Draw the mechanism diagram of manipulator and the actual workspace of production line according to the structure of prototype machine. By using D-H transformation, the parameterized manipulator model is analyzed, and the kinematic parameter expression of 3R series manipulator is obtained. After obtaining the expression, the kinematics positive solution with parameters can be obtained, the inverse solution with parameters can be obtained by reverse solution, and a random point is selected to investigate whether the result is correct. According to the requirements of the production task, the trajectory of the end actuator of the manipulator is determined. Since the path point has been given, the kinematics knowledge can be used to obtain the changes of the joint angles. After the change of the joint angle is known, the cubic interpolation method is used to plan the trajectory of each joint. The expressions of joint moment of 3R manipulator with parameters are calculated by Lagrange function. Firstly, the Lagrange function is defined, and the kinetic energy and potential energy of the manipulator are derived from the velocity angle. Finally, the general equation of dynamics is derived. The parameters of the model are brought into the equation, and the expressions of the joint torque with parameters are obtained, and an example is taken to solve them for further comparison and verification. Based on the production characteristics of manipulator, the appropriate objective function is selected to optimize the manipulator. Based on the expressions of the joint torque obtained in the previous paper, the total joint torque is obtained, and the total joint torque at the maximum acceleration on the track is chosen as the objective function. The proper constraint conditions are given and the dynamic optimization design of the manipulator is carried out by the appropriate optimization method. The structural parameters of the manipulator with better acceleration performance under the objective function are solved. Finally, ADAMS simulation software is used to simulate the manipulator. By comparing the joint torque of the two manipulators, it is verified that the optimized mechanical manual mechanical performance is really improved, and the kinematics and trajectory are also verified. The derivation of dynamics formula is correct. In this study, the actual working situation and the robot theory analysis are established, and the method of direct optimization of the dynamic model is adopted to improve the dynamic performance of the manipulator. It opens a new way of thinking and direction for further optimization research of manipulator.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
本文编号：2424123
[Abstract]:Robots play a more and more important role in today's society, in which serial manipulator plays an irreplaceable role in many fields because of its flexibility. However, with the increasing of manipulator application field and the increasing difficulty of the task, the dynamic performance of manipulator also needs to be strictly regulated. Therefore, a dynamic optimization method for series manipulator is proposed, which can complete the material handling work under the condition that the dynamic performance of the manipulator is better than that of the prototype machine. Draw the mechanism diagram of manipulator and the actual workspace of production line according to the structure of prototype machine. By using D-H transformation, the parameterized manipulator model is analyzed, and the kinematic parameter expression of 3R series manipulator is obtained. After obtaining the expression, the kinematics positive solution with parameters can be obtained, the inverse solution with parameters can be obtained by reverse solution, and a random point is selected to investigate whether the result is correct. According to the requirements of the production task, the trajectory of the end actuator of the manipulator is determined. Since the path point has been given, the kinematics knowledge can be used to obtain the changes of the joint angles. After the change of the joint angle is known, the cubic interpolation method is used to plan the trajectory of each joint. The expressions of joint moment of 3R manipulator with parameters are calculated by Lagrange function. Firstly, the Lagrange function is defined, and the kinetic energy and potential energy of the manipulator are derived from the velocity angle. Finally, the general equation of dynamics is derived. The parameters of the model are brought into the equation, and the expressions of the joint torque with parameters are obtained, and an example is taken to solve them for further comparison and verification. Based on the production characteristics of manipulator, the appropriate objective function is selected to optimize the manipulator. Based on the expressions of the joint torque obtained in the previous paper, the total joint torque is obtained, and the total joint torque at the maximum acceleration on the track is chosen as the objective function. The proper constraint conditions are given and the dynamic optimization design of the manipulator is carried out by the appropriate optimization method. The structural parameters of the manipulator with better acceleration performance under the objective function are solved. Finally, ADAMS simulation software is used to simulate the manipulator. By comparing the joint torque of the two manipulators, it is verified that the optimized mechanical manual mechanical performance is really improved, and the kinematics and trajectory are also verified. The derivation of dynamics formula is correct. In this study, the actual working situation and the robot theory analysis are established, and the method of direct optimization of the dynamic model is adopted to improve the dynamic performance of the manipulator. It opens a new way of thinking and direction for further optimization research of manipulator.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
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