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  本文選題：移動噴涂機械臂 + 大尺度船舶表面　； 參考：《哈爾濱工業(yè)大學》2016年碩士論文

【摘要】：表面噴涂是機械類、電器類外殼等產(chǎn)品制造工藝中表面防腐防銹蝕處理的重要一環(huán)。相對于體積較小的產(chǎn)品外表面噴涂而言,面向大型復雜表面的噴涂技術在尺度以及自動化程度上仍然面臨巨大挑戰(zhàn),尤其在大型船舶表面噴涂領域,當前仍主要依賴人工完成,不僅效率低、噴涂質(zhì)量不穩(wěn)定,并且工況環(huán)境惡劣,對工人傷害大,因此開展面向大型船體分段自動噴涂技術的研究對提高噴涂效率與質(zhì)量具有重要意義。本文結(jié)合國家科技支撐項目課題“超大船體分段自動噴涂成套設備研制”,針對一款面向大型船體分段的新型自動化移動噴涂機器人,開展大型船體分段定位技術,大尺度移動機械臂定位、運動學以及控制方法相關關鍵技術研究。首先,開展大型船舶分段定位技術研究。以表面特征點的測繪為基礎,結(jié)合坐標變換,采用全站儀用于確定船體、移動機械臂及信標之間相對位置關系,基于后方交會法原理,建立了全站儀測量系統(tǒng)測量誤差分析數(shù)學模型,分析了全站儀建站位置因素對測量誤差的影響規(guī)律,在此基礎上確定了建站位置關系,并進行了實驗驗證。其次,進行移動機械臂實時相對定位技術研究。針對大型船體分段表面噴涂環(huán)境,提出了一種改進的三邊信標絕對定位方法,采用SICK激光雷達實時掃描實現(xiàn)信標的數(shù)據(jù)分割、信標外輪廓的識別,引入定位權值實現(xiàn)的信標選取和數(shù)據(jù)處理,建立了誤差分析模型用于分析誤差產(chǎn)生原因及降低方法,并通過實驗對移動機械臂定位方法進行了驗證。然后,進行大尺度移動機械臂運動學分析。以提高噴涂效率為目標,制定了移動機械臂噴涂策略以及噴涂路徑規(guī)劃;利用激光跟蹤儀標定機械臂結(jié)構參數(shù),并基于D-H法進行運動學分析;針對4輪移動平臺特點,制定了運動及控制策略。最后,針對工程液壓機械臂無反饋、模擬量控制的問題,進行液壓驅(qū)動移動機械臂數(shù)字化控制系統(tǒng)設計。通過在各個運動關節(jié)增加了反饋檢測環(huán)節(jié),解算運動控制量與關節(jié)狀態(tài)的關系,建立數(shù)字控制接口,實現(xiàn)了大尺度移動機械臂數(shù)字化反饋控制,最后完成搭載6自由度噴涂機械臂進行模擬船體噴涂的實驗。
[Abstract]:Surface spraying is an important part of surface anticorrosion and corrosion prevention in mechanical and electrical products. Compared with the outer surface spraying of small products, the spraying technology for large and complex surfaces still faces great challenges in scale and automation, especially in the field of surface spraying of large ships, which still relies mainly on manual painting, especially in the field of surface spraying of large ships. Not only the efficiency is low, the quality of spraying is unstable, but also the working condition is bad, which is harmful to the workers. Therefore, it is very important to develop the technology of automatic spraying for large hull sections to improve the efficiency and quality of spraying. In this paper, a new automatic mobile spraying robot for large hull segments is developed, which is based on the national science and technology support project, "the complete set of equipment for automatic spraying of large hull segments", which aims at a new type of automatic mobile spraying robot for large hull segments. Research on key Technologies of large-scale Mobile manipulator location, Kinematics and Control methods. First of all, the research on segmented positioning technology of large-scale ships is carried out. Based on the mapping of surface feature points and coordinate transformation, the total station is used to determine the relative position relationship between ship hull, moving manipulator and beacon, based on the principle of rear intersection. The mathematical model of measuring error analysis of total station measuring system is established, and the influence law of the location factor of total station construction on the measurement error is analyzed. On the basis of this, the position relation of total station construction system is determined, and the experimental verification is carried out. Secondly, the real-time relative positioning technology of mobile manipulator is studied. In this paper, an improved three-sided beacon absolute positioning method is proposed for large hull segmented surface spraying environment. The real-time scanning of SICK lidar is used to realize the data segmentation of the beacon and the recognition of the outer contour of the beacon. By introducing the beacon selection and data processing realized by positioning weights, the error analysis model is established to analyze the causes of errors and the methods of reducing the errors, and the positioning method of mobile manipulator is verified by experiments. Then, kinematics analysis of large-scale mobile manipulator is carried out. In order to improve the spraying efficiency, the spraying strategy and the spray path planning of the mobile manipulator are worked out, the structure parameters of the manipulator are calibrated by laser tracker, and the kinematics analysis based on D-H method is carried out. The motion and control strategies are formulated. Finally, the digital control system of hydraulic driven mobile manipulator is designed to solve the problem of no feedback and analog control of hydraulic manipulator. By adding feedback detection link to each moving joint and calculating the relationship between motion control quantity and joint state, the digital control interface is established, and the digital feedback control of large scale mobile manipulator is realized. Finally, the experiment of simulating ship spraying with 6 DOF spraying manipulator is completed.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U671

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本文編號：1799181