高精度多轴桁架机械手运动控制技术研究
Abstract
Basedonthein-depthanalysisofthecurrentresearchstatusandfuturedevelopment
directionofhigh-precisionmanipulatorsathomeandabroad,thisstudyexplorestwokey
technicalpointsinthehardwareplatformandmotioncontrolofthemanipulator:trajectory
planningandvelocityplanning,aimingatthehigh-precisionmachiningproblemofmulti-axis
manipulators.Themainresearchcontentsareasfollows.
Firstly,theclassificationofcommonmanipulatorsisintroduced.Comparedwith
articulatedmanipulators,theyhavestrongerbearingcapacityandaccuracy.Inthefieldof
aerospacemachining,thetrussmanipulatorhasobviousadvantagesinheavyloadandhigh
precisionmachiningduetoitsstructuralcharacteristics.Thenthestructureandparametersof
thehigh-precisiontrussmanipulatorareexplained.Whenselectingthekeycomponentsofthe
manipulatorplatform,attentionshouldbepaidtotheselectionofkeycomponentssuchas
servomotorsandballscrewswithhigherprecisiontoensurethatthehigh-precisionmotion
controlisachievedunderthesupportofthealgorithm,andthebalancebetweenprocessing
efficiencyandaccuracyistakenintoaccount.
Aimingatthecontinuityandefficiencyofmotiontrajectoryplanning,theBezier
algorithmofcurvefittingisintroducedonthecommonstraightlineandarcpath,andits
advantagesandlimitationsareanalyzedindetail.Onthisbasis,aB-splinecurvealgorithm
basedoninversecontrolpointsisproposed.Bycalculatingthecontrolpointsinreverse,the
algorithmcanbettermeettheglobaloptimizationrequirementsandimprovethesmoothness,
continuityandadaptabilityofthecurve.Inordertoimprovethecontinuityofthecornerpath