微观施工仿真中虚拟吊装机械运动学建模与智能交互  

Kinematics modeling and intelligent interaction of virtual tower crane in microconstruction simulation

作　　者：侯筱婷[1] 李昌华[2] 

机构地区：[1]西安建筑科技大学理学院,陕西西安710055 [2]西安建筑科技大学信息与控制工程学院,陕西西安710055

出　　处：《长安大学学报（自然科学版）》2013年第5期124-130,共7页Journal of Chang’an University(Natural Science Edition)

基　　金：国家自然科学基金项目(50878176);陕西省教育厅专项科研计划项目(11JK0967)

摘　　要：以施工中常用的小车变幅式塔吊为研究对象,提出基于机器人运动学D-H模型的虚拟塔吊运动学建模方法;分析了虚拟塔吊机器人关节构成及相应的运动副自由度变量,在此基础上构建了虚拟塔吊D-H杆件坐标系和杆件参数表,求得吊钩运动学方程;提出自主吊装路径规划Quick Guess改进算法,测试了算法性能;提出基于先进虚拟现实软件开发平台EON Professional 6.0的软件解决方案,初步构建了虚拟吊装仿真试验平台,并基于实时显示的仿真数据验证了吊钩运动学方程的正确性。研究结果表明:采用D-H模型实现虚拟塔吊运动学建模是可行的和有效的,具有简单直观的几何意义,可适用于其他复杂多体吊装机械的运动学建模;Quick Guess改进算法考虑了塔吊实际工况限制以及减少路径除尖角的计算,合理约束随机点的选择范围,提高了路径规划可靠性以及计算性能;规划的吊装路径符合实际吊装情况,更便于塔机司机的操作。Taking tower crane as the research subiect, a kind of kinematics modeling method for virtual tower crane based on D-H model of robot kinematics was put forward. By analyzing the composition of joint and corresponding variables of degree of freedom, D-H link coordinate sys- tem and parameters table of virtual tower crane were constructed and then kinematics equation of hook was solved. A kind of improved algorithm of hoisting path planning based on Quick Guess algorithm was put forward and its performance was tested. A feasible software development scheme was put forward and a testing platform of virtual hoisting construction was built tenta- tively based on EON Professional 6.0, an advanced development platform o{ virtual simulation software, and then real time simulation data validated the correctness of kinematics equation of hook. The results indicate that using D-H model to realize kinematics modeling of virtual towercrane is feasible and effective, which is of simple and straightforward geometry significance, and can be popularized to other complicated multibody hoisting machinery modeling . Improved algo- rithm of Quick Guess considers working condition of tower crane and calculation for eliminating closed angles, which can restrict the range of random point is restricted reasonably and enhance the reliability and computing performance of hoisting path planning. Moreover, the hoisting path corresponds to real hoisting condition and is more convenient for operation. 1 tab, 5 figs, 10 refs.

关 键 词：机械工程 施工仿真 虚拟塔吊 D-H模型 路径规划 EON PROFESSIONAL 

分 类 号：TU61[建筑科学—建筑技术科学] TP391.9[自动化与计算机技术—计算机应用技术]