为解决管片自动拼装过程中人无法准确掌握拼装机末端空间位姿，以及无法基于拼装机末端目标位姿解算拼装机各关节目标运动量的难题，基于6自由度大平移拼装机运动机制，建立针对性运动学计算模型，提出一种管片拼装机高精度运动学正逆解解析方法，考虑提升油缸差异性伸缩、提升梁非对称设计、小吸盘油缸定量伸出等关键细节问题，并进一步基于运动学正解给出基于拼装机各关节自由度运动误差对拼装机末端定位精度的影响分析方法。研究结果表明： 1）与三维设计模型相比，拼装机末端正解位置精度小于0.2 mm； 2）吸盘偏转、俯仰和回转动作存在相互干涉，简化处理后的拼装机各关节目标运动量逆解精度小于0.5 mm，满足自动拼装要求； 3）拼装机大回转角度执行误差超过0.1°，末端位置偏差将超过7 mm，在回转功能设计上存在进一步优化的必要性。
Accurately determining the
spatial pose of segment erectors and motion targets for each joint in automated
segment assembly is challenging. To address this drawback, a kinematic
calculation model has been developed for a six-degree-of-freedom
assembly erector, featuring a large translation function. A high-precision forward and inverse kinematics analysis method,
incorporating critical factors such as differential extension and retraction of
lifting hydro-cylinders, asymmetric design of lifting
beams, and quantitative extension of a small suction cup′s hydro-cylinder, is proposed. A forward
kinematic solution-based calculation method is
introduced to quantify the impact of joint motion errors on the positioning
accuracy of the erector′s end-effector.
Key findings are as follows: (1) The position accuracy of the segment erector′s end is less than 0.2 mm after cross checking between the forward
kinematics and three-dimensional design model results.
(2) Deflection, pitch, and rotation motions of the suction cup exhibit mutual
interference. Nevertheless, the simplified inverse kinematic solution achieves
a target motion accuracy of less than 0.5 mm, satisfying the requirements for automatic assembly. (3) If the
execution error of the erector′s rotation angle exceeds
0.1°, then the resulting end position deviation exceeds
7 mm, highlighting the need for further optimization of the rotation mechanism′s design.
