摘要
针对盾构法施工过程中人工换刀效率低、危险性大、成本高的问题,提出一种基于机器人作业的自动化换刀方案。首先,分析换刀机器人作业环境和功能需求,设计一种新型8自由度机器人结构,并基于静力学计算和仿真,验证机器人整体结构的强度和刚度满足设计要求;然后,基于D-H参数法建立机器人连杆坐标系,获得换刀机器人正运动学模型,基于位姿分离方法、迭代法和最短行程原则获得该8自由度机器人最优逆解;其次,为避免机器人换刀作业过程的冲击,采用5次多项式进行换刀机器人轨迹规划;最后,搭建换刀机器人仿真平台,并进行机器人逆运动学算法验证、工作空间计算和运动轨迹仿真。结果表明:所提逆运动学算法的误差优于10×10^(-6),精度较高,满足换刀精度要求;换刀机器人实现某一开挖直径8960 mm土压平衡盾构机87.6%的刀盘覆盖率和82.1%滚刀的更换,满足换刀范围要求;基于5次多项式轨迹规划算法,各关节运动平稳、无冲击,机器人出舱时间为70 s,作业过程未与舱体发生碰撞,验证了方案的可行性,并为换刀机器人智能控制奠定基础。
Aiming at the problems of low efficiency,high risk,and high cost of manual tool change during shield machine construction,an automatic tool changing scheme was proposed.First,the operational environment and functional requirements of the tool changing robot were analyzed,a new 8-DOF robot structure was designed,and the structural strength and rigidity aligning with design criteria were verified by static calculations and simulations.Second,the robot linkage coordinate system was established based on D-H parameter method,and the forward kinematics model of the tool changing robot was obtained.The inverse kinematics of the 8-DOF robot was obtained based on the position and orientation separation method and the principle of the shortest travel.Then,in order to avoid the impact of the robot tool changing process,the quintic polynomial interpolation algorithm was used for trajectory planning.Finally,a tool changing robot simulation platform was built,and the kinematics model verification,workspace calculation and trajectory planning simulation were carried out.The results show that the proposed inverse kinematics algorithm attains an error of less than 10×10^(-6)and meets the accuracy requirements.The tool changing robot realizes 87.6%of the cutter head coverage and 82.1%of the tool changing of an earth pressure balance shield machine with an excavation diameter of 8960 mm,meeting the range requirements of tool changing.Based on the quintic polynomial trajectory planning algorithm,the motion of each joint is stable and devoid of abrupt impacts.It takes 70 seconds to leave the cabin,and the operation process does not collide with the cabin.Therefore,the feasibility of the scheme is verified,which lays a foundation for the intelligent control of tool changing robot.
作者
姜礼杰
王一新
孙颜明
杨航
贾连辉
JIANG Lijie;WANG Yixin;SUN Yanming;YANG Hang;JIA Lianhui(China Railway Engineering Equipment Group Co.,Ltd.,Zhengzhou 450016,China;School of Mechanical Engineering,Zhejiang University,Hangzhou 310027,China)
出处
《铁道科学与工程学报》
EI
CAS
CSCD
北大核心
2023年第8期3081-3092,共12页
Journal of Railway Science and Engineering
基金
国家重点研发计划资助项目(2018YFB1306700)。
关键词
盾构机
换刀机器人
机构设计
建模
仿真
shield machine
tool changing robot
structural design
modeling
simulation
