【摘要】：磨機(jī)裝備是現(xiàn)代礦山企業(yè)生產(chǎn)和加工各類礦石過程中的重要大型設(shè)備,其內(nèi)部襯板長期與物料直接接觸,被沖擊的損壞率極高。因此,礦山企業(yè)會(huì)根據(jù)內(nèi)部襯板的磨損破壞情況進(jìn)行更換磨機(jī)內(nèi)部襯板,不僅費(fèi)時(shí)費(fèi)力,且大大降低企業(yè)的經(jīng)濟(jì)效益。本文根據(jù)企業(yè)實(shí)際要求,針對(duì)?4.8?13.8m型球磨機(jī)進(jìn)行設(shè)計(jì)了一款新型磨機(jī)更換襯板專用機(jī)械手,并讓其實(shí)現(xiàn)自動(dòng)化定點(diǎn)安裝襯板,研究內(nèi)容具體如下:(1)根據(jù)企業(yè)現(xiàn)場安裝襯板的實(shí)際情況,利用Solidworks設(shè)計(jì)一款針對(duì)?4.8?13.8m型磨機(jī)更換襯板的專用機(jī)械手,并對(duì)其結(jié)構(gòu)做詳細(xì)講解。使用D-H參數(shù)方法進(jìn)行建立磨機(jī)專用機(jī)械手連桿坐標(biāo)系后,再進(jìn)一步采用齊次變換矩陣得出專用機(jī)械手每個(gè)關(guān)節(jié)坐標(biāo)系的相對(duì)位置和姿態(tài),從而得出磨機(jī)專用機(jī)械手運(yùn)動(dòng)學(xué)方程式。最后再通過一系列計(jì)算,獲得磨機(jī)專用機(jī)械手末端手抓的具體位置和姿態(tài)。選取6組專用機(jī)械手不同關(guān)節(jié)參數(shù)值,使用MATLAB中的Robotic Toolbox對(duì)磨機(jī)專用機(jī)械手末端手抓位姿進(jìn)行仿真。仿真得出結(jié)果與理論求解結(jié)果一致,從而驗(yàn)證了磨機(jī)專用機(jī)械手的末端手抓位置矢量的正確性。(2)采用基于數(shù)值法的蒙特卡洛法和基于SimMechanics建模的改進(jìn)混合計(jì)算法進(jìn)行機(jī)械手可達(dá)工作空間分析與驗(yàn)證。通過編程實(shí)現(xiàn)了工作空間仿真,結(jié)果顯示了兩種方法得到的仿真圖形相似,滿足了所設(shè)計(jì)的磨機(jī)專用機(jī)械手所需達(dá)到的工作空間位置,驗(yàn)證了所設(shè)計(jì)的磨機(jī)專用機(jī)械手結(jié)構(gòu)的正確性。(3)依據(jù)牛頓—?dú)W拉法進(jìn)行建立磨機(jī)專用機(jī)械手的動(dòng)力學(xué)方程,并對(duì)磨機(jī)專用機(jī)械手的逆動(dòng)力學(xué)問題展開相應(yīng)的研究。導(dǎo)入簡化后的磨機(jī)專用機(jī)械手模型到ADAMS軟件中對(duì)其建立虛擬樣機(jī)模型,并對(duì)磨機(jī)專用機(jī)械手進(jìn)行動(dòng)力學(xué)的仿真研究。仿真結(jié)果與預(yù)期的磨機(jī)專用機(jī)械手的各關(guān)節(jié)力或力矩變化相近,進(jìn)一步驗(yàn)證了設(shè)計(jì)的磨機(jī)專用機(jī)械手結(jié)構(gòu)的合理性,也進(jìn)一步為以后磨機(jī)專用機(jī)械手的控制設(shè)計(jì)奠定了一定的基礎(chǔ)。(4)設(shè)計(jì)新型磨機(jī)專用機(jī)械手控制器,實(shí)現(xiàn)機(jī)械手自動(dòng)化控制安裝襯板,并對(duì)其進(jìn)行機(jī)械手軌跡跟蹤的控制研究。通過設(shè)計(jì)重力補(bǔ)償PD控制器,重力補(bǔ)償加模糊整定PD控制器,PD的計(jì)算力矩法控制器,自適應(yīng)模糊補(bǔ)償與計(jì)算力矩法控制器進(jìn)行磨機(jī)專用機(jī)械手的軌跡跟蹤控制。最后通過各控制器仿真對(duì)比得出結(jié)論:基于自適應(yīng)模糊補(bǔ)償計(jì)算力矩控制機(jī)械手關(guān)節(jié)曲線平穩(wěn),穩(wěn)態(tài)誤差較好,可以很好的實(shí)現(xiàn)磨機(jī)專用機(jī)械手定點(diǎn)安裝襯板。
[Abstract]:Mill equipment is an important equipment in the production and processing of all kinds of ores in modern mining enterprises. Its inner liner is in direct contact with the material for a long time and the damage rate of impact is very high. Therefore, according to the wear and tear of the internal liner, the mine enterprise will replace the internal liner of the mill, which not only takes time and effort, but also greatly reduces the economic benefit of the enterprise. According to the actual requirements of enterprises, this paper designs a new type mill for replacing special manipulator for lining plate, and makes it realize automatic fixed installation of lining plate. The contents of the research are as follows: (1) according to the actual situation of the installation of lining plate in the enterprise, a special manipulator for replacing the liner plate for the grinding machine is designed by using Solidworks, and the structure of the manipulator is explained in detail. The D-H parameter method is used to establish the coordinate system of the linkage of the special manipulator, and then the relative position and attitude of each joint coordinate system of the special manipulator are obtained by using the homogeneous transformation matrix. Thus the kinematics equation of special manipulator for grinding machine is obtained. Finally, through a series of calculations, the position and posture of the end grip of the special manipulator are obtained. Six groups of special manipulators with different joint parameters were selected, and Robotic Toolbox in MATLAB was used to simulate the position and position of the end hand of the special manipulator. The simulation results are consistent with the theoretical results. Thus the correctness of the position vector of the end grip of the special manipulator is verified. (2) the method of Monte Carlo based on numerical method and the improved hybrid calculation method based on SimMechanics modeling are used to analyze and verify the reachable workspace of the manipulator. The workspace simulation is realized by programming. The results show that the simulation graphics obtained by the two methods are similar and meet the workspace position required by the designed special manipulator of the mill. The structure of the special manipulator is verified. (3) according to Newton-Euler method, the dynamic equation of the special manipulator is established, and the inverse dynamic problem of the special manipulator is studied. The simplified special manipulator model of grinding machine was introduced into ADAMS software to establish a virtual prototype model, and the dynamics of the special manipulator was simulated. The simulation results are similar to the expected changes of the joint force or torque of the special manipulator, which further verifies the rationality of the structure of the special manipulator designed for the mill. It also lays a foundation for the control design of special manipulator for grinding machine. (4) to design the controller of special manipulator for grinding machine, to realize the automatic control and installation of linings of manipulator, and to study the control of manipulator trajectory tracking. Through the design of PD controller for gravity compensation, PD controller for gravity compensation and fuzzy tuning PD controller for PD, and adaptive fuzzy compensation and calculation torque method controller for trajectory tracking control of special manipulator for grinding machine, the controller is designed. Finally, through the simulation and comparison of the controllers, it is concluded that the torque control based on adaptive fuzzy compensation is stable in joint curve and good in steady-state error, which can achieve the fixed point installation of linings for the special manipulator of grinding machine.
【學(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TD453;TP241.3

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