| 细长火箭内壁打磨机器人无冗余干涉规避与优化 |
| |
| 引用本文： | 柳洪义,孙一兰,刘志忠,崔丹丹.细长火箭内壁打磨机器人无冗余干涉规避与优化[J].江苏大学学报(自然科学版),2009,30(3). |
| |
| 作者姓名： | 柳洪义 孙一兰 刘志忠 崔丹丹 |
| |
| 作者单位： | 1. 东北大学,机械工程与自动化学院,辽宁,沈阳,110004
2. 东北大学,机械工程与自动化学院,辽宁,沈阳,110004;河南理工大学,机械与动力工程学院,河南,焦作,454003 |
| |
| 基金项目： | 国家自然科学基金重点项目 |
| |
| 摘 要： | 针对应用于自由操作空间的机器人冗余度碰撞规避方法,无法解决细长型固体火箭发动机壳体内壁打磨机器人各关节间、关节与内壁间的干涉规避,提出了一种在受限操作空间中机器人无冗余自由度的干涉规避方法.在不增加机器人自由度的前提下,通过数学模型判别在壳体内壁打磨轨迹上各关节间、关节与壳体内壁间是否发生干涉,动态地对末端执行器的打磨接触面进行调整、改变各关节位置与姿态,以实现干涉规避;并且以关节速度变化的平稳性为性能指标、干涉规避为约束条件,进行运动学优化与仿真试验.仿真结果表明,打磨机器人满足打磨轨迹、无干涉碰撞,且各关节的速度变化平稳均匀.
|
| 关 键 词： | 细长型火箭发动机 内壁打磨机器人 无冗余干涉规避 运动学优化 |
Non-redundant collision avoidance and kinematic optimization of a grinding robot for inner-wall of slight rocket engines |
| |
| Liu Hongyi,Sun Yilan,Liu Zhizhong,Cui Dandan.Non-redundant collision avoidance and kinematic optimization of a grinding robot for inner-wall of slight rocket engines[J].Journal of Jiangsu University:Natural Science Edition,2009,30(3). |
| |
| Authors: | Liu Hongyi Sun Yilan Liu Zhizhong Cui Dandan |
| |
| Institution: | 1.School of Mechanical Engineering and Automation;Northeastern University;Shenyang;Liaoning 110004;China;2.School of Mecha-nics and Power Engineering;Henan Polytechnic University;Jiaozuo;Henan 454003;China |
| |
| Abstract: | Traditional robot collision avoidance method applied to free operation space is carried out by adding robot DOF.However,this method isn't suitable to limited operation space such as a kind of slight solid-propellant rocket engines inner-wall.Hence,a new robot collision avoidance method with non-redundant DOF for limited operation space is presented.Without adding robot DOF,this method can judge collision situation in grinding trajectory by mathematical model,and adjust dynamically the grinding interface of ... |
| |
| Keywords: | slight rocket engines inner-wall grinding robot non-redundant collision avoidance kinematic optimization |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
