自动铺丝束机械手运动学动力学分析与优化-毕业论文.docVIP

自动铺丝束机械手运动学动力学分析与优化  南京航空航天大学硕士学位论文 摘  要 自动铺丝束成型技术是一种新型的复合材料制造技术，是现代机器人技术、计算 机数控技术、CAD/CAM 技术在复合材料制造领域的综合应用。多自由度铺丝机械手 是自动铺放成型设备的重要组成部分。本文以多自由度铺丝机械手为研究对象，对其 运动学、动力学等问题进行了系统的研究。主要工作如下： 在建立连杆坐标系的基础上，采用 Denavit-Hartenberg 方法建立了铺丝机械手的 运动学模型。对机械手的位姿、速度、加速度等问题进行了详细的分析，并采用 Matlab 进行了计算；同时，针对本机械手的结构特点，提出了一种简便的运动学逆解算法， 为实现机械手的实时控制奠定了基础。 对铺丝机械手的动力学问题进行了分析，采用拉格朗日方法推导出具有显式结构 的动力学方程，为后续的动力学优化打下了基础；通过牛顿－欧拉递推公式建立起封 闭形式的动力学方程，计算出各个关节所需的驱动力矩，并用 Matlab 程序进行了仿 真。 最后，在考虑芯模主轴旋转的情况下，对七自由度铺丝机械手的运动学和动力学 进行了研究和仿真，提出了一种适合本机械手结构特点的运动学逆解算法；并以动能 为目标函数，对七关节冗余自由度机械手进行了初步的优化。 论文工作为多自由度铺丝机械手的控制奠定了一定基础。 关键词：自动铺丝束， 机器人， 运动学， 动力学， 优化 I 自动铺丝束机械手运动学动力学分析与优化 ABSTRACT Automated tow placement is an advanced manufacturing technology for composite material parts. It is the application of modern robot technology, computer numerical control technology and CAD/CAM technology to the manufacturing of composite material parts. Tow placement robots are the most important part in automated tow placement systems. In this thesis, the kinematics and dynamics of the robot are analyzed systematically. The following is the main work and results: Based on the definition of Cartesian coordinates fixed on different linkages, the kinematics model of the robot is established with Denavit-Hartenberg method. The position, pose, velocity and acceleration are analyzed in detail and computed with Matlab programs. Depending on the structure of the robot, a convenient method is proposed to solve the inverse kinematics problem, which builds the foundation of real-time control for the robot. The dynamics problem of the robot is analyzed and the explicit solution of dynamics equation is given by Lagrange method that established the foundation of dynamics optimization. The dynamics equation is established by Newton-Euler formula, and the joints’ moment is worked out and simulated with Matlab. Finally, by considering principal axis, a 7-DOF tow placement robot is formed. The kinematics and dynamics of the 7-DOF robot are also studied