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针对传统位姿分离式铺丝机械手灵活性不足的特点,为了提高航空复合材料铺丝过程的灵活性和避障碍能力,提出一种位姿耦合式冗余铺丝机械手自运动流形的新算法。由于冗余铺丝机械手各关节之间的强耦合性增加了逆解的求解难度,该算法将冗余铺丝机械手的关节逆解分解为已知的Paden-Kahan旋量子问题以及由位置关节组成的特殊旋量子问题,并针对特殊旋量子问题进行求解得到冗余铺丝机械手全部逆解,这样相对于位姿分离式解法有效提高了冗余铺丝机械手逆解的求解效率以及求解直观性。由于冗余铺丝机械手的逆解呈现出流形的结构,所以根据冗余铺丝机械手自运动流形的多维特性,将冗余铺丝机械手的自运动流形分别映射到位置关节空间和姿态关节空间得到其三维仿真曲线。由于冗余铺丝机械手逆解流形中的优化流形在实际控制中更具应用价值,所以在铺丝机械手末端执行器沿芯模轨迹运动速度平稳的前提下为了使机械手各关节速度变化最小,提出以冗余铺丝机械手关节速度组成的约束泛函为目标得到相应的运动学优化流形,并为后续的最优控制奠定了基础。最后以某型号飞机S形进气道为例验证了所提方法的可行性。
In view of the lack of flexibility of conventional pose-separated laying machines, in order to improve the flexibility and obstacle avoidance of the laying process of aviation composite materials, a new algorithm of pose-coupled redundant lay-up robots self-motion manifold . Due to the strong coupling between the joints of the redundant laying robot, the difficulty of solving the inverse solution is increased. The algorithm inversely deconvolutes the joint inverse solution of the redundant laying robot into the known Paden-Kahan spin-quantum problem and the position joint , The special inverse problems of the torus are solved and all the inverse solutions of the redundant laying manipulator are obtained by solving the special problems of the quantum problem. In this way, the solution of the inverse solution to the redundant laying robot is effectively improved and the intuition is solved. Due to the inverse manifold solution of the redundant laying robot, the self-moving manifold of the redundant laying robot is mapped to the position of the joint space and the posture, respectively, according to the multidimensional characteristics of the self-moving manifold of the redundant laying robot. Joint space to get the three-dimensional simulation curve. Due to the fact that the optimized manifold in the inverse solution manifold of the redundant laying robot is more practical in actual control, in order to minimize the change of the joint velocity of the manipulator under the premise of stable movement speed of the end effector of the laying robot along the core trajectory, , Proposed to obtain the corresponding kinematic optimization manifold with the objective function of the restrained functional composed of redundant wire-laying manipulator joint velocities, and laid the foundation for the subsequent optimal control. At last, the feasibility of the proposed method is verified by taking the S-shaped inlet of a certain model aircraft as an example.