【摘要】：利用3-SPR并聯(lián)機構設計了一種新型機器人曲面制孔末端執(zhí)行器。根據(jù)3-SPR型并聯(lián)機構的特點,結合曲面制孔末端執(zhí)行器的設計要求,將該并聯(lián)機構作為曲面制孔末端執(zhí)行器的調姿壓緊機構。在該調姿壓緊機構運動學分析的基礎上,給出了本文研究的并聯(lián)制孔末端執(zhí)行器刀具姿態(tài)調整算法。在末端執(zhí)行器刀具四周均布的四個距離傳感器測得曲面上制孔點周圍四點數(shù)據(jù)的基礎上,計算獲得該四點在同一坐標系下的坐標,結合已知的制孔點坐標,給出了一種基于矢量加權求和的新曲面法向測量算法。并對該算法與球面擬合的法向測量算法進行了仿真對比,可知本文設計的新算法在法向測量時有更高的精度。對制孔末端執(zhí)行器并聯(lián)調姿機構,采用拉格朗日方程建立了該機構的動力學模型,得到了驅動力的顯示解,為進一步分析末端執(zhí)行器調姿機構動力學控制提供數(shù)學模型。基于該數(shù)學模型對末端執(zhí)行器并聯(lián)調姿機構動力學特性進行了仿真分析,根據(jù)驅動力的顯示解,模擬動平臺姿態(tài)變化時驅動力的變化曲線,得到姿態(tài)調整中各驅動力的變化情況。同時對動平臺加載與不加載時,驅動力的變化情況進行對比,給出了各支鏈可以忽略質量的條件。分析驅動力變化與機構結構參數(shù)之間的關系,為機構動力學特性的深入分析及其用于制孔執(zhí)行器的優(yōu)化設計提供了參考。以所設計調姿機構動力學方程為模型,設計了基于該模型的修正PD控制策略及滑模變結構控制策略。通過仿真說明對于該動力學模型,基于趨近律的滑模變結構控制器比PD控制器具有更好的魯棒性,更適合于該末端執(zhí)行器并聯(lián)調姿機構。對所建立末端執(zhí)行器制孔單元的進給系統(tǒng)數(shù)學模型,采用傳統(tǒng)的PID控制器與有自適應特點的模糊PID控制器。通過仿真分析得出模糊PID策略更適合用于制孔單元進給系統(tǒng)。
[Abstract]:Using 3-SPR parallel mechanism, a new type of robot curved hole end actuator is designed. According to the characteristics of the 3-SPR parallel mechanism and the design requirements of the curved hole making end actuator, the parallel mechanism is used as the adjusting and compacting mechanism of the curved hole making end actuator. On the basis of kinematics analysis of the attitude adjusting and compacting mechanism, a tool attitude adjustment algorithm of parallel hole end actuator is presented in this paper. On the basis of the data of four points around the hole making point on the curved surface measured by four distance sensors distributed evenly around the end actuator tool, the coordinates of the four points in the same coordinate system are calculated and combined with the known coordinates of the hole making point. A new surface normal measurement algorithm based on vector weighted summation is presented. Compared with the normal measurement algorithm of spherical surface fitting, the new algorithm designed in this paper has higher accuracy in normal measurement. The dynamic model of the mechanism is established by Lagrangian equation, and the display solution of driving force is obtained, which provides a mathematical model for the further analysis of the dynamic control of the end-actuator attitude adjusting mechanism. Based on the mathematical model, the dynamic characteristics of the parallel attitude adjusting mechanism of the end actuator are simulated. According to the display solution of the driving force, the change curve of the driving force during the attitude change of the moving platform is simulated. The change of driving force in attitude adjustment is obtained. At the same time, the change of driving force is compared between dynamic platform loading and non-loading, and the condition that the quality of each branch chain can be neglected is given. The relationship between the change of driving force and the structural parameters of the mechanism is analyzed, which provides a reference for the in-depth analysis of the dynamic characteristics of the mechanism and its application in the optimization design of the hole making actuator. The modified PD control strategy and sliding mode variable structure control strategy are designed based on the dynamic equation of the designed attitude adjusting mechanism. The simulation results show that the sliding mode variable structure controller based on approach law is more robust than the PD controller and is more suitable for the parallel attitude adjustment mechanism of the end actuator. The traditional PID controller and the fuzzy PID controller with adaptive characteristics are used for the mathematical model of the feed system of the end actuator hole making unit. Simulation results show that fuzzy PID strategy is more suitable for feed system of hole making unit.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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