發(fā)布時(shí)間：2018-10-24 10:44

【摘要】：隨著社會(huì)用工成本不斷上升,工業(yè)機(jī)器人的應(yīng)用越來(lái)越廣泛。在工業(yè)機(jī)器人的生產(chǎn)作業(yè)中,其面向的被加工對(duì)象也越來(lái)越復(fù)雜。因而,研究復(fù)雜形體表面的機(jī)器人作業(yè)方法,對(duì)提升我國(guó)工業(yè)機(jī)器人加工技術(shù)具有重要意義。本文針對(duì)復(fù)雜形體表面作業(yè),提出了工業(yè)機(jī)器人路徑規(guī)劃與仿真方法。首先,對(duì)給定的復(fù)雜形體,利用人機(jī)交互勾繪和特征提取技術(shù),并結(jié)合位姿數(shù)據(jù)轉(zhuǎn)化和屬性操作,快速完成工業(yè)機(jī)器人任務(wù)路徑的設(shè)計(jì)。其次,通過(guò)構(gòu)建模型的自適應(yīng)層次包圍盒,并根據(jù)機(jī)械臂結(jié)構(gòu)和非接觸角分析,實(shí)現(xiàn)工業(yè)機(jī)器人的快速碰撞檢測(cè)。再次,利用遺傳算法規(guī)劃形體表面路徑加工的序列,并通過(guò)碰撞檢測(cè)模型篩選出非碰撞作業(yè)路徑。最后,通過(guò)工業(yè)機(jī)器人仿真系統(tǒng)驗(yàn)證了本文研究成果的可行性。本文主要研究?jī)?nèi)容如下:研究了復(fù)雜形體表面機(jī)器人作業(yè)任務(wù)路徑快速構(gòu)建技術(shù)。通過(guò)形體表面交互和點(diǎn)間切割操作,快速構(gòu)建與形體表面緊密貼合的幾何路徑;針對(duì)難以精確勾繪的模型邊界,通過(guò)幾何和拓?fù)潢P(guān)系提取特征邊,并對(duì)于特征邊序列化,從而完成形體邊界的幾何路徑快速構(gòu)建;對(duì)構(gòu)建的幾何路徑進(jìn)行機(jī)器人任務(wù)路徑的數(shù)據(jù)轉(zhuǎn)化、變換和補(bǔ)償?shù)炔僮?并設(shè)置任務(wù)路徑關(guān)鍵工藝參數(shù),進(jìn)而完成機(jī)器人任務(wù)路徑的快速構(gòu)建;最后,通過(guò)仿真實(shí)驗(yàn)驗(yàn)證了方法的可行性。研究了復(fù)雜形體表面路徑機(jī)器人作業(yè)仿真碰撞檢測(cè)技術(shù)。針對(duì)工業(yè)機(jī)器人作業(yè)仿真碰撞檢測(cè)問(wèn)題,本文避開(kāi)了傳統(tǒng)構(gòu)建繁雜的層次包圍盒方法,通過(guò)復(fù)雜形體表面路徑機(jī)器人作業(yè)仿真,探究了基于AOAAE復(fù)雜形體表面路徑機(jī)器人作業(yè)的碰撞檢測(cè),加快了碰撞檢測(cè)的速度;本文基于機(jī)械臂的特征分析,利用大臂運(yùn)動(dòng)范圍的廣泛性,提出機(jī)械臂非接觸角的概念,并利用機(jī)械臂的結(jié)構(gòu)與非接觸角,分析了機(jī)械臂自相交碰撞檢測(cè),改善了碰撞檢測(cè)的實(shí)時(shí)性。研究了基于遺傳算法的形體表面復(fù)雜路徑規(guī)劃技術(shù)。本文以映射形體表面點(diǎn)陣作為優(yōu)化目標(biāo)點(diǎn),通過(guò)對(duì)目標(biāo)點(diǎn)初始參數(shù)和遺傳算子設(shè)計(jì),完成形體表面點(diǎn)陣序列規(guī)劃;建立了形體表面曲線的簡(jiǎn)化模型,并結(jié)合貪心法思想,確定相鄰路徑的連接點(diǎn)的位置,給出了不規(guī)則形體表面多路徑加工序列的方法;在上述方法的基礎(chǔ)上,進(jìn)一步做無(wú)碰撞路徑篩選操作,并獲得到無(wú)碰撞近似最優(yōu)路徑。開(kāi)發(fā)了工業(yè)機(jī)器人的復(fù)雜形體表面路徑規(guī)劃與仿真系統(tǒng)�；诒疚难芯�?jī)?nèi)容和方法,開(kāi)發(fā)了工業(yè)機(jī)器人的復(fù)雜形體表面路徑規(guī)劃與仿真系統(tǒng),其中設(shè)計(jì)了離線軟件的功能模塊和UI界面,并開(kāi)發(fā)了虛擬示教器和路徑規(guī)劃器等工具。在仿真應(yīng)用實(shí)例中,搭建了機(jī)器人作業(yè)環(huán)境,構(gòu)建了任務(wù)路徑,利用機(jī)器人刻字、焊接仿真作業(yè),綜合驗(yàn)證了本文所提方法的可行性。
[Abstract]:With the increasing of social labor costs, industrial robots are more and more widely used. In the production of industrial robots, the objects they face are becoming more and more complex. Therefore, it is of great significance to study the working methods of the robot on the surface of complex objects in order to improve the machining technology of industrial robots in China. In this paper, a path planning and simulation method of industrial robot is proposed for complex object surface operation. Firstly, the task path design of industrial robot is accomplished quickly by means of human-computer interactive mapping and feature extraction techniques, combined with the transformation of position and pose data and attribute operation for a given complex object. Secondly, by constructing adaptive hierarchical bounding box and analyzing the structure of manipulator and non-contact angle, the fast collision detection of industrial robot is realized. Thirdly, genetic algorithm is used to program the sequence of surface path processing, and the non-collision operation path is screened by collision detection model. Finally, the feasibility of the research results is verified by the industrial robot simulation system. The main contents of this paper are as follows: the fast task path construction technology of complex surface robot is studied. Through the interaction of the surface of the body and the operation of cutting between points, the geometric path closely aligned with the surface of the body is constructed quickly, and for the model boundary which is difficult to draw accurately, the feature edges are extracted by geometric and topological relations, and the feature edges are serialized. Thus the geometry path of body boundary is constructed quickly, the data transformation, transformation and compensation of the robot task path are carried out, and the key process parameters of the task path are set up. Finally, the feasibility of the method is verified by simulation experiments. The simulation collision detection technology of complex surface path robot is studied in this paper. Aiming at the problem of industrial robot operation simulation collision detection, this paper avoids the traditional method of constructing complicated hierarchical bounding box, and simulates the operation of robot with complex surface path. This paper probes into the collision detection of the robot with complex surface path based on AOAAE, which accelerates the speed of collision detection. Based on the characteristic analysis of the manipulator, the concept of the non-contact angle of the manipulator is put forward based on the extensiveness of the moving range of the arm. Using the structure and non-contact angle of the manipulator, the self-intersecting collision detection of the manipulator is analyzed, which improves the real-time performance of the collision detection. The complex path planning technology of shape surface based on genetic algorithm is studied. In this paper, we take the mapping surface lattice as the optimization target point, design the initial parameters of the target point and genetic operator to complete the planning of the surface lattice sequence of the object surface, establish a simplified model of the surface curve of the body, and combine the greedy method with the idea of greedy method. The location of the joining points of the adjacent paths is determined, and the method of multipath processing sequence on the surface of irregular bodies is given. On the basis of the above methods, the collision free path selection operation is further done, and the collision free approximate optimal path is obtained. A complex surface path planning and simulation system for industrial robot is developed. Based on the contents and methods of this paper, a complex object surface path planning and simulation system of industrial robot is developed, in which the function module and UI interface of off-line software are designed, and the tools such as virtual teacher and path planner are developed. In the simulation application example, the robot working environment is built, the task path is constructed, and the feasibility of the proposed method is verified synthetically by using the robot engraving and welding simulation operation.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242.2

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本文編號(hào)：2291163