冗余混联式钻铆机床姿态调整轨迹优化  

Optimization of Posture Adjustment Trajectory of a Redundantand Hybrid ADRM

作　　者：潘国威[1] 陈文亮[1] PAN Guowei;CHEN Wenliang(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,210016)

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《中国机械工程》2021年第21期2571-2576,2589,共7页China Mechanical Engineering

基　　金：国家自然科学基金(51875283);江苏省研究生培养创新工程(KYLX15_0299)。

摘　　要：针对混联式自动钻铆机床因冗余自由度导致钻铆姿态多样化的问题,提出了一种基于动态规划的姿态调整轨迹优化方法,该方法通过离散化钻铆点姿态的可行解空间来构建姿态调整轨迹的全连接层模型,采用动态规划方法计算姿态调整的最优轨迹。分析了钻铆过程中的冗余自由度,基于旋量方法给出了逆运动学解。阐述了壁板钻铆姿态调整轨迹优化原理,以系统能量消耗最小为优化目标,给出了笛卡儿空间姿态调整最优轨迹,将其映射到关节空间进行关节运动轨迹光顺。实验验证表明所提方法有效,可提高飞机壁板钻铆效率。Aiming at the diversification of fastening postures caused by redundant DOF of the hybrid ADRM,a method of posture adjustment trajectory optimizationwas proposed based on dynamic programming.Through discretizing the feasible solution spaces of each riveting point,the full connection layer model of the fastening task was constructed.The dynamic programming was adopted to obtain the optimal trajectory of fastening posture adjustments.Firstly,the redundant DOF of the ADRM was analyzed and the inverse solution that was obtained based on screw method.Then,the optimization principle was explained by considering the characteristics of the assembly tasks.Taking the energy consumption as the optimization objective,the optimal posture adjustment trajectory of Cartesian space was obtained,which was mapped to the joint space for joint trajectory smoothing.Finally,the above method was verified by examples and experiments.The results show that the method is more time-efficient for the fastening of aircraft panels.

关 键 词：自动钻铆机床 冗余自由度 姿态优化 动态规划 飞机装配 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] V26[自动化与计算机技术—控制科学与工程]