| The robot is a programming and execution in the automatic control mechanismof certain operations and mobile operating tasks. With the rapid development ofrobotic technology and the information age, robot covers more and more widely.Robotics’s development and research are in booming phase, and in the actual project,such as the industrial robots, ocean exploration robots, space robots, military robots,service robots included. In developed countries, robot technology has been widelyapplied in many fields, for instance the automotive electronics, the food hygiene,wood furniture manufacturing, rubber industry.The truck crane manipulator is a hydraulically driven mechanical arm whosemain task is to complete the large load object which reproduced in the car and truckoperations. The traditional handling manipulator doesn’t only cost a lot of time, butalso greatly affects the accuracy in the actual project. In view of this situation, anefficient, steady, fast, accurate automatic scheme was proposed.In this dissertation, a truck crane manipulator system was studied. According tothe truck crane manipulator configuration characteristics, analyzed the forward andinverse kinematics of the truck crane manipulators. For the trajectory error whichcaused by the automatic transfer, the trajectory compensation scheme was proposed.The full text of the main contents as follows:At first, through research and analysis of truck crane manipulator configurationcharacteristics, the mathematical model of the truck crane manipulator kinematics wasestablished. D-H parameter method and the homogeneous transformation matrixmethod were adopted to derive the forward kinematics equations of the truck cranemanipulators. D-H parameters were utilized to obtain the kinematics equationswithout spreader case. For the whole model including spreader case, the kinematicsequations were derived from homogeneous transformation matrix. Due to thecomplexity of the truck crane manipulator structure, the coupling between the joints,using the inverse transform method and chaotic genetic algorithm to solve the truckcrane manipulator inverse kinematics. The inverse transform method was used to getthe unique inverse kinematics solution. For the complete truck crane manipulatorinverse kinematics problem, the inverse transform method can not solve the inversekinematics, therefore chaos genetic algorithm was added to obtain the global optimalsolution.Through deeply analyzing the process of the truck crane manipulatorautomatically transfer, study the spatial straight-line trajectory planning and space arc trajectory planning. For the requirements of the actual engineering of the truck cranemanipulator, the trajectory is divided into accelerate period, constant speed period anddeceleration period. According to the position and orientation of the Cartesian space,established the relationship between the joint variables and the running time anddroved the movement of each joint of the truck crane manipulator to complete thewhole process.For the tiny deformation which caused by the weight of the heavy loads, thestatic and dynamic position compensation scheme were studied. By the end of theactuator position and attitude, and the variation method to establish the positiondeviation and deformation angle value. For static position compensation, the using ofsensors to measure the special position resulting in deformation of the compensationangle value and compensation trajectory error. Deflection and rotation equation isderived by using the approximate equation of deflection curve for dynamic positioncompensation which establishes the relationship among deformation, deflection androtation angle, then compensate the trajectory error in real-time.Finally, summarized the work. Through deeply research on the systemkinematics modeling, path planning, trajectory compensation and mathematics,physics, materials, mechanics, control theory, the further research were discussed. |
PDF Full Text Request