發(fā)布時間：2018-11-24 13:54

【摘要】：工業(yè)機(jī)器人以其高柔性化等特點(diǎn)在工業(yè)制造領(lǐng)域如焊接,搬運(yùn),裝配,銑削等多個方面得到越來越多的應(yīng)用。為了實現(xiàn)這些不同的制造功能,機(jī)器人末端需要安裝不同的末端執(zhí)行器,如焊槍,激光,噴槍,銑刀等,這些末端執(zhí)行器的引入勢必給機(jī)器人末端增加柔性線纜,例如導(dǎo)線,氣管,光纖,水管等。這些加工通常涉及復(fù)雜的曲線或者曲面軌跡,通常采用的示教編程方式效率低下。離線編程一方面可以克服示教編程生產(chǎn)效率低的缺點(diǎn);但另一方面,由于末端執(zhí)行器的引入,容易發(fā)生線纜與機(jī)械臂擠壓、纏繞或者自身過度扭轉(zhuǎn)等情況,從而導(dǎo)致線纜損壞,對作業(yè)過程造成嚴(yán)重影響。因此,針對末端執(zhí)行器可更換的機(jī)器人離線編程問題,考慮末端線纜的干涉對機(jī)器人軌跡的影響,實現(xiàn)機(jī)器人軌跡規(guī)劃和優(yōu)化,具有重要的現(xiàn)實意義。本文以末端帶線纜的六自由度銑削機(jī)器人作為研究對象,以避免機(jī)器人在進(jìn)刀過程發(fā)生線纜干涉及自身過度扭轉(zhuǎn)為目標(biāo),基于笛卡爾空間規(guī)劃方法、構(gòu)建機(jī)器人歐拉角插補(bǔ)模型、采用螢火蟲算法對進(jìn)刀軌跡進(jìn)行優(yōu)化,本文主要研究內(nèi)容如下:(1)提出了一種基于笛卡爾空間對線纜移動端軌跡進(jìn)行圓弧插補(bǔ)的策略,基于柔性線纜的一端固定,另一端則固定在機(jī)器人末端執(zhí)行器上,通過分析機(jī)器人進(jìn)刀過程中線纜兩端的位姿而間接分析柔性線纜的實時狀態(tài),在減小了沖擊與振動的同時還能實現(xiàn)機(jī)器人運(yùn)行平滑且穩(wěn)定,并且在進(jìn)刀軌跡中針對線纜末端姿態(tài)的歐拉角進(jìn)行線性插補(bǔ),使線纜兩端姿態(tài)差異控制在一定范圍內(nèi)以避免機(jī)器人在運(yùn)行中發(fā)生線纜干涉及自身扭轉(zhuǎn)過度等情況。(2)在避免線纜干涉及其自身扭轉(zhuǎn)過度的約束下,為了減小機(jī)器人在進(jìn)刀過程中的抖動并提高工作效率,把進(jìn)刀軌跡的長度與平滑性作為優(yōu)化目標(biāo),然后建立多目標(biāo)優(yōu)化數(shù)學(xué)模型,采用螢火蟲算法在跳轉(zhuǎn)點(diǎn)空間進(jìn)行搜索并最終得到多目標(biāo)最優(yōu)運(yùn)行軌跡。(3)針對Staubli TX90銑削機(jī)器人系統(tǒng),分別進(jìn)行了仿真和實物實驗,對本文所提出的多目標(biāo)最優(yōu)軌跡方法進(jìn)行驗證,通過相關(guān)的運(yùn)動狀態(tài)分析以及數(shù)據(jù)對比分析,驗證了所提方法的有效性。
[Abstract]:Because of its high flexibility, industrial robot has been widely used in many fields such as welding, handling, assembly, milling and so on. In order to achieve these different manufacturing functions, different end actuators, such as welding torch, laser, spray gun, milling cutter, etc., are required to be installed at the end of the robot. The introduction of these end actuators is bound to add flexible cables, such as wires, to the end of the robot. Trachea, optical fiber, plumbing, etc. These processes usually involve complex curves or surface trajectories, and the teaching programming method is usually inefficient. On the one hand, off-line programming can overcome the shortcomings of low efficiency of teaching programming. But on the other hand, because of the introduction of the end actuator, the cable and the mechanical arm are prone to squeeze, winding or excessive torsion, resulting in cable damage, which has a serious impact on the operation process. Therefore, considering the influence of the interference of the terminal cable on the trajectory of the robot, it is of great practical significance to realize the trajectory planning and optimization of the robot, aiming at the off-line programming of the robot which can be replaced by the end actuator. In this paper, a six-degree-of-freedom milling robot with cable ends is taken as the research object. The aim of this paper is to avoid cable interference and excessive torsion of the robot in the cutter feed process, based on Descartes spatial planning method. A robot Euler angle interpolation model is constructed, and the feeding path is optimized by firefly algorithm. The main contents of this paper are as follows: (1) A circular interpolation strategy based on Cartesian space is proposed to interpolate the moving-end trajectory of the cable. Based on one end of the flexible cable fixed and the other end fixed on the robot end actuator, the real-time state of the flexible cable is indirectly analyzed by analyzing the position and orientation of the two ends of the cable during the cutting process of the robot. While reducing the impact and vibration, the robot can run smoothly and stably, and the Euler angle of the end of the cable is interpolated linearly in the feed path. The attitude difference between the two ends of cable is controlled within a certain range to avoid cable interference and excessive torsion of the robot in operation. (2) under the constraint of avoiding cable interference and excessive torsion by itself, In order to reduce the jitter and improve the working efficiency of the robot, the length and smoothness of the feed path are taken as the optimization targets, and then the multi-objective optimization mathematical model is established. The firefly algorithm is used to search the jump point space and finally get the optimal trajectory of multi-target. (3) for the Staubli TX90 milling robot system, simulation and physical experiments are carried out, respectively. The multi-target optimal trajectory method proposed in this paper is verified. The validity of the proposed method is verified by the analysis of the motion state and the comparison of the data.
【學(xué)位授予單位】：湘潭大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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