盾构机换刀机械手误差补偿研究  

Research on error compensation of shield machine cutter changing robot

作　　者：张博文 林赉贶[1,2] 彭正阳 文威 曾桂英[1,2] 柳一凡 ZHANG Bowen;LIN Laikuang;PENG Zhengyang;WEN Wei;ZENG Guiying;LIU Yifan(School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha 410083,China;China Railway Construction Heavy Industry Co.,Ltd.,Changsha 410100,China;ZTE Changsha R&D and Production Base,Changsha 410205,China)

机构地区：[1]中南大学机电工程学院,湖南长沙410083 [2]中南大学高性能复杂制造国家重点实验室,湖南长沙410083 [3]中国铁建重工集团股份有限公司,湖南长沙410100 [4]中兴通讯长沙研发生产基地,湖南长沙410205

出　　处：《铁道科学与工程学报》2023年第4期1512-1521,共10页Journal of Railway Science and Engineering

基　　金：国家重点研发计划项目(2018YFB1306700);中南大学高性能复杂制造国家重点实验室自主研究课题(ZZYJKT2021-15);中南大学研究生自主探索创新资助项目(2022ZZTS0214)。

摘　　要：针对换刀机械手在盾构机内部狭小空间中、重载工况下难以实现精准更换滚刀的问题,提出换刀机械手末端位姿误差补偿方法。换刀机械手的末端位姿误差由刚性误差与柔性误差2个部分组成,分别针对这2种误差进行理论分析。以MDH参数法为基础建立换刀机械手的刚性误差模型,基于材料力学理论,采用奇异函数以及拉普拉斯变换的方法计算伸缩臂柔性变形,进而建立换刀机械手柔性误差模型,并分别利用Matlab与Workbench仿真软件完成对刚性误差模型与柔性误差模型的正确性检验。结合二者的误差模型,通过刚性误差与柔性误差线性叠加的方式推导得到换刀机械手刚柔耦合误差模型。基于所提出的刚柔耦合误差模型,还需对模型中的冗余参数进行剔除,并通过L-M算法实现对换刀机械手几何参数识别,进而完成换刀机械手标定实验。经过标定后,换刀机械手末端位置误差在X方向上的误差均值相对于未标定前减少21.02 mm,在Y方向上的误差均值相对于未标定前减少18.44 mm,在Z方向上的误差均值相对于未标定前减少3.79 mm。标定实验结果表明,标定后换刀机械手各方向的末端误差均得到大幅度的减小,进而说明提出的换刀机械手误差补偿方法是科学有效的。Aiming at the problem that it is difficult to accurately replace the hob in the narrow space inside the shield machine and under heavy load conditions,the end pose error compensation method of the tool changing manipulator was proposed.The end pose error of tool changing manipulator consists of rigid error and flexible error,which were analyzed theoretically.The rigid error model of tool changing manipulator was established based on MDH model.Based on the theory of material mechanics,the flexible deformation of telescopic arm was calculated by singular function and Laplace transform,and then the flexible error model of tool changing manipulator was established.The correctness of rigid error model and flexible error model were tested by Matlab and Workbench simulation software respectively.Then,combined with the two error models,the rigid flexible coupling error model of tool changing manipulator was deduced by the linear superposition of rigid error and flexible error.Based on the proposed rigid flexible coupling error model,it is also necessary to eliminate the redundant parameters in the model.The geometric parameter identification of the tool change manipulator was realized through L-M algorithm,so as to complete the calibration experiment of the tool change manipulator.After calibration,the mean error of the end position error of the tool changing manipulator in the X direction is reduced by 21.02 mm,and the mean error in the Y direction is reduced by 18.44 mm,and the mean error in the Z direction is reduced by 3.79 mm.The calibration experimental results show that the end error of the tool change manipulator in all directions has been greatly reduced after calibration,which shows that the error compensation method of the tool change manipulator proposed in this paper is scientific and effective.

关 键 词：换刀机械手 MDH参数法 刚柔耦合 误差模型 误差补偿 

分 类 号：TH692.9[机械工程—机械制造及自动化]