移动机械臂牵引卷装纱线的动态建模与控制  

Dynamic modeling and control of package yarn pulled by mobile manipulator

作　　者：许高平 孙以泽[1] XU Gaoping;SUN Yize(College of Mechanical Engineering,Donghua University,Shanghai 201620,China)

机构地区：[1]东华大学机械工程学院,上海201620

出　　处：《纺织学报》2024年第1期1-11,共11页Journal of Textile Research

基　　金：国家重点研发计划项目(2022YFB4700603);中央高校基本科研业务费专项资金、东华大学研究生创新基金资助项目(CUSF-DH-D-2022073)。

摘　　要：随着纺织工业的智能化转型需求,应用于纺织产业的工业机器人技术不断发展。针对在复杂的纺织加工环境下,机器人对柔性纱线直接操纵存在的纱线形态感知困难与空间局限性,以移动机械臂对织造领域整经纱架上卷装线头的牵引操纵为例,提出一种集成机器人避障运动规划策略的卷装纱线牵引操纵控制框架。构建了卷装纱线系统的动力学模型,解析了机器人与纱线间的运动耦合关系和机器人牵引纱线的运动控制方程,提出了基于纱线轴向应变约束的改进自适应引导快速扩散随机树算法,保障机器人避障运动的同时防止纱线被过度拉伸。通过数值仿真验证了该控制框架的有效性,实现了机械臂对卷装纱线从起点到目标点的无碰撞柔顺牵引操纵。Objective With the continuous development of robotics and textile industry intelligence,the use of industrial robotsto replace manual labor to complete all types of typical textile processing skills operations has become a new trend in the textile industry.However,in complex textile processing environments,the direct manipulation of flexible yarns by robotssuffers from yarn morphology perception difficulties and spatial limitations.Therefore,a yarn-pulling manipulation control framework with an integrated robotic obstacle avoidance motion planning strategy is proposed to realize collision-free and smooth pulling manipulation of package yarn on the warping frame by the robot from the starting point to the target point.Method First,the dynamics model of yarn on the package surface is constructed;then the motion coupling relationship between the robot and the yarn is analyzed and the motion control equation of the robot pulling the yarn is given;furthermore,the improved adaptive goal-guided rapidly-exploring random trees(AGG-RRT)algorithm based on the axial strain constraintsof the yarn is proposed;finally,the motion planning is out carried for the mobile composite manipulator,which preventsthe yarn from overstretching while circumventing the obstacles.Results In simulation experiment 1,taking the mobile manipulator bypass from the front of the yarn frame to the back of the yarn frame as an example,the robot obstacle avoidance path search is simulated to test the obstacle avoidance ability when facing a large obstacle.The resultsshow that after eight traversal collision detection and correction of the searched robot end collision-free path,a completely collision-free path in the robot joint space is obtained,and the movement process of the robot around large obstacles is shown,and the translation motion curves of the robot′s mobile chassis and the joint motion curves of the manipulator are obtained.In simulation experiment 2,taking the mobile manipulator gripping the reserved yarn end of the package and pulling ar

关 键 词：纱线动力学 卷装线头牵引 移动机械臂 自适应引导快速扩散随机树算法 避障规划 智能制造 

分 类 号：TS108[轻工技术与工程—纺织工程] TP242[轻工技术与工程—纺织科学与工程]