發(fā)布時(shí)間：2017-12-28 01:30

  本文關(guān)鍵詞：基于視覺(jué)非接觸測(cè)量的少自由度運(yùn)動(dòng)平臺(tái)試驗(yàn)研究　出處：《佳木斯大學(xué)》2016年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 混聯(lián)機(jī)構(gòu) 螺旋基系理論 非接觸測(cè)量 攝像機(jī)標(biāo)定 試驗(yàn)研究

【摘要】：并聯(lián)機(jī)構(gòu)以及混聯(lián)機(jī)構(gòu),因其剛度大、精度高、響應(yīng)快、負(fù)載大的優(yōu)點(diǎn),應(yīng)用十分廣泛。本文根據(jù)物料分揀場(chǎng)合的特點(diǎn),在螺旋理論的基礎(chǔ)上,提出一種運(yùn)動(dòng)平臺(tái)(放置末端執(zhí)行器)的具有三維移動(dòng)及一維轉(zhuǎn)動(dòng)自由度,即1Rz3T型機(jī),再有,平面機(jī)構(gòu),即1Rz2Txy型機(jī)構(gòu)。另外,以以上述提出的兩種機(jī)構(gòu)為基礎(chǔ),提出了一種全自由度混聯(lián)機(jī)構(gòu),結(jié)合了并聯(lián)機(jī)構(gòu)與串聯(lián)機(jī)構(gòu)的各自?xún)?yōu)點(diǎn)。根據(jù)混聯(lián)機(jī)構(gòu)的工作狀況,采用基于視覺(jué)的非接觸測(cè)量方式進(jìn)行無(wú)損、無(wú)接觸壓力檢測(cè),測(cè)量系統(tǒng)具有很好的移植性。首先,在綜述國(guó)內(nèi)外螺旋理論及少自由度并聯(lián)機(jī)構(gòu)型綜合的基礎(chǔ)之上,根據(jù)應(yīng)用場(chǎng)合例如:快遞分揀等進(jìn)行分析,確定了少自由度并聯(lián)機(jī)構(gòu)的構(gòu)型以及全自由度混聯(lián)機(jī)構(gòu)的設(shè)計(jì)方案;在綜述國(guó)內(nèi)外現(xiàn)有攝像機(jī)標(biāo)定的基礎(chǔ)上,確定了攝像機(jī)標(biāo)定方案,使得相機(jī)標(biāo)定方便快捷、準(zhǔn)確可靠;在綜述機(jī)器視覺(jué)測(cè)量技術(shù)的基礎(chǔ)上,對(duì)視覺(jué)測(cè)量系統(tǒng)進(jìn)行了分析。根據(jù)現(xiàn)有的工作狀況,將非接觸測(cè)量與機(jī)構(gòu)的運(yùn)動(dòng)平臺(tái)相結(jié)合,確定了一種基于視覺(jué)非接觸測(cè)量的少自由度運(yùn)動(dòng)平臺(tái)總體設(shè)計(jì)方案,為后續(xù)的混聯(lián)機(jī)構(gòu)的工程應(yīng)用提供基礎(chǔ)。其次,基于螺旋基系理論,分析了1Rz3T四自由度和五自由度并聯(lián)機(jī)構(gòu)構(gòu)型,提出一種新型1Rz3T四自由度運(yùn)動(dòng)解耦式并聯(lián)機(jī)構(gòu),通過(guò)對(duì)1Rz2Txy對(duì)稱(chēng)型平面并聯(lián)機(jī)構(gòu)構(gòu)型分析,提出一種3RRR型1Rz2Txy對(duì)稱(chēng)型平面并聯(lián)機(jī)構(gòu),將這兩種結(jié)構(gòu)結(jié)合,構(gòu)成全自由度混聯(lián)機(jī)構(gòu)。然后,研究了攝像機(jī)成像模型以及攝像機(jī)標(biāo)定技術(shù),分析了攝像機(jī)內(nèi)參數(shù)、外部參數(shù),并利用Matlab中標(biāo)定工具箱對(duì)采集完成的棋盤(pán)格圖像進(jìn)行標(biāo)定,求解了內(nèi)參數(shù)、畸變參數(shù)等,為后續(xù)的3RRR型1Rz2Txy對(duì)稱(chēng)型平面并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)平臺(tái)進(jìn)行提供了基于視覺(jué)非接觸測(cè)量的基礎(chǔ)。最后,建立了試驗(yàn)系統(tǒng),加工出了3RRR型1Rz2Txy對(duì)稱(chēng)型平面并聯(lián)機(jī)構(gòu)和1Rz3T四自由度運(yùn)動(dòng)解耦式并聯(lián)機(jī)構(gòu)。編寫(xiě)了3RRR型并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)平臺(tái)的控制系統(tǒng)并對(duì)其運(yùn)動(dòng)平臺(tái)作了位姿采集。
[Abstract]:Parallel mechanism and hybrid mechanism are widely used because of their advantages of high stiffness, high precision, fast response and large load. According to the characteristics of material sorting, on the basis of screw theory, this paper proposes a three dimensional movement and one dimension rotation degree of freedom of a motion platform (placing the end effector), that is, the 1Rz3T type machine, and then the planar mechanism, that is, the 1Rz2Txy mechanism. In addition, on the basis of the two mechanisms mentioned above, a kind of full degree of freedom hybrid mechanism is proposed, which combines the advantages of the parallel mechanism and the series mechanism. According to the working status of the hybrid mechanism, a non-contact and visual based non-contact measurement method is applied to detect lossless and non-contact pressure. The measurement system has good portability. First of all, on the basis of review of screw theory and less DOF parallel mechanisms based on comprehensive, applications such as: Express sorting analysis, the less degree of freedom parallel mechanism configuration and full freedom mixed design scheme of the organization; based on summarizing the domestic and foreign existing camera calibration, to determine the the camera calibration method, the camera calibration is convenient, accurate and reliable; on the basis of machine vision measurement technology, the visual measurement system are analyzed. According to the existing working conditions, a new design scheme of a less freedom motion platform based on visual non-contact measurement is established by combining the non-contact measurement with the motion platform of the mechanism, which provides a basis for the subsequent engineering application of the hybrid mechanism. Secondly, based on the theory of the spiral matrix, 1Rz3T four and five degree of freedom parallel mechanism analysis, put forward a new type of 1Rz3T four DOF motion decoupling parallel mechanism, through the analysis of the 1Rz2Txy symmetric planar parallel mechanism, put forward a kind of 3RRR type 1Rz2Txy type symmetric planar parallel mechanism, the combination of these two kinds of the structure, constitute full DOF hybrid mechanism. Then, the camera model and camera calibration technology, analyzes the parameters and external parameters of the camera, using the Matlab calibration toolbox of checkerboard image acquisition complete calibration for parameters and distortion parameters, motion platform of 3RRR 1Rz2Txy symmetric planar parallel mechanism in the future it provides the basis for non contact measurement based on vision. Finally, the experimental system was established, and the 3RRR type 1Rz2Txy symmetrical planar parallel mechanism and the 1Rz3T four degree of freedom motion decoupling parallel mechanism were worked out. The control system of the motion platform of the 3RRR type parallel mechanism is written and the position and attitude of the motion platform is collected.
【學(xué)位授予單位】：佳木斯大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TH112

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