滚筒螺旋叶片激光熔覆中机械臂路径轨迹问题研究.pdf

全日制硕士学位论文全日制硕士学位论文 滚筒螺旋叶片激光熔覆中机械臂路径轨迹问题 研究 Research on the path and trajectory of the manipulator in laser cladding of the shearer blade 作者姓名张海宁 导师姓名赵丽娟 学科专业机械工程 研究方向机械电子 完成日期 2020 年 8 月 11 日 辽宁工程技术大学 Liaoning Technical University 万方数据 滚 筒 螺 旋 叶 片 激 光 熔 覆 中 机 械 臂 路 径 轨 迹 问 题 研 究 张 海 宁 辽 宁 工 程 技 术 大 学 万方数据 关关于于学学位位论论文文使使用用授授权权的的说说明明 本学位论文作者及指导教师完全了解 辽辽宁宁工工程程技技术术大大学学 有关保 留、使用学位论文的规定，同意 辽辽宁宁工工程程技技术术大大学学 保留并向国家有关 部门或机构送交论文的复印件和磁盘，允许论文被查阅和借阅，学校可 以将学位论文的全部或部分内容编入有关数据库进行检索，可以采用影 印、缩印或扫描等复制手段保存、汇编本学位论文。 保密的学位论文在解密后应遵守此协议。 学位论文作者签名____________导师签名_____________ 年月日年月日 万方数据 2020813 中图分类号TDC421学校代码10147 UDC密级公 开 辽宁工程技术大学 全日制硕士学位论文全日制硕士学位论文 滚筒螺旋叶片激光熔覆中机械臂路径轨迹问题 研究 Research on the path and trajectory of the manipulator in laser cladding of the shearer blade 作者姓名张海宁学号471720056 导师姓名赵丽娟副导师姓名 申请学位工学硕士培养单位辽宁工程技术大学 学科专业机械工程研究方向机械电子 二○二○年八月 万方数据 致致 谢谢 首先，感谢辽宁工大，我的母校。4 年的本科加上 3 年的研究生生活，我更能体会到 “朴实无华，坚韧顽强，无私奉献”的太阳石精神的份量。 感谢我的导师赵丽娟教授。无论是科研能力还是为人处事，都让我深深佩服，并且以 老师为榜样。感谢老师提供的机会，让我能接触到机器人和激光熔覆这样的前沿科技。为 了我的实验，老师不嫌麻烦，多次和矿上沟通叶片事宜。在寒假期间，老师更是帮我把小 论文修改了很多稿，最后成功被高水平期刊录用。 感谢各位师兄弟们， 在三年研究生学习生活以及我做论文期间对我的帮助， 不胜感激。 尚祖恩师兄提供了帮助，借给我很多相关的书籍资料；王亚东师兄在 Matlab 编程方面， 帮我解决了很多问题；岳海涛师兄和陈洋同学，寒假留下来，协助我做实验。真心祝愿毕 业的同学前程似锦 感谢我的家人，谢谢你们一如既往对我无条件的支持，在物质上不给我任何压力。在 写论文期间，没能有时间和你们沟通联系，我感到很愧疚。 最后我还要向参与答辩和评审的老师专家致以诚挚的谢意，并希望专家提出宝贵的意 见。 万方数据 I 摘摘要要 装煤是采煤机滚筒螺旋叶片的主要功能，复杂的煤层赋存条件和非线性冲击载荷可导 致螺旋叶片尾端和外缘部分磨损加剧甚至失效，会对采煤机的工作效率和生产成本产生影 响。运用激光熔覆再制造的方法对磨损的叶片进行修复，可以提高其使用寿命。 通过对熔覆实验用机器人末端轨迹的规划控制，可实现各种复杂异构空间的任意可 达， 满足螺旋叶片这类复杂形面的熔覆加工需求。 针对激光熔覆实验中机械臂的路径轨迹， 运用 Matlab Robotics Toolbox 建立机器人模型，用蒙特卡洛方法得到其工作空间点云图， 并对点云进行包络处理， 求解出其工作空间的体积为 27.0217m， 与技术参数给定值 27.2m 近似，验证了机器人建模和正运动学的正确性，能满足对采煤机螺旋叶片激光熔覆任务的 要求。 对熔覆实验中涉及的机械臂末端轨迹进行仿真分析， 为叶片的激光熔覆实验做准备。 基于 Adams 对机器人沿叶片外缘设计尺寸做螺旋曲线运动进行运动学和动力学仿真， 得出 各关节的角位移、角速度、角加速度和驱动电机所需的转矩。充分考虑重力因素以及末端 激光头的负载，激光头装置在轨迹突变时刻会发生数量级为 -10 10的微小波动，能满足对磨 损的叶片进行修复的要求。 将关节角时间序列导入 SimMechanics 中， 作为驱动能控制机械 臂做相同的螺旋曲线运动，验证了 Adams 中得到的关节角时间序列的驱动具有普适性。对 磨损最为严重的叶片尾片的磨损情况和曲面特征进行分析，分区域进行轨迹验证和激光修 复实验。用三维扫描仪获取尾片外缘的点云数据，使用 MeshLab 软件对获取的点云数据进 一步处理，完成待加工曲面的三维重构。利用布尔运算，将完整叶片模型剪切磨损模型可 以得到待增材区域的模型， 导入熔覆再制造辅助编程软件生成路径程序。 机器人运动平稳， 对尾片的熔覆加工时间为 70min，熔覆后的几何特征与原叶片一致，且成型质量良好。研 究方法为螺旋叶片修复和其他复杂曲面零件的再制造提供了参考，有较好的工程应用价 值。 该论文有图 70 幅，表 6 个，参考文献 54 篇。 关键词关键词采煤机滚筒螺旋叶片；激光熔覆实验；机器人路径轨迹；Matlab Robotics Toolbox； Adams；SimMechanics 万方数据 II Abstract The main function of the shearer drum spiral blade is to load coal.Complex coal seam conditions and non-linear shock loads can lead to increased wear or even failure of the tail and outer edge of the spiral blades, which can have an impact on the efficiency and production costs of the coal miner. The use of laser cladding and remanufacturing s to repair worn blades can increase their service life. By planning and controlling the end trajectory of the robot for cladding experiments, it is possible to achieve arbitrary access to various complex heterogeneous spaces, which can meet the needs of cladding processing of large scale complex shapes such as spiral blades. In the laser cladding experiment, the robot model was built by using Matlab Robotics Toolbox, and the point cloud map of the working space was obtained by Monte Carlo , and the point cloud was enveloped to solve the volume of the working space of 27.0217m.It was close to the given value of 27.2m in the technical parameters, which verified the correctness of the robot modeling and orthokinematics and could meet the task requirements of laser cladding of the spiral blade of coal miner. Simulation analysis of the end trajectory of the arm involved in the cladding experiment was carried out to prepare for the laser cladding experiment of the blade.Based on the Adams simulation of the robots spiral curve motion along the outer edge of the blade, the angular displacement, angular velocity, angular acceleration and the torque required to drive the motor of each joint were obtained. Taking full account of the gravity factor and the load of the laser head at the end, the laser head device would undergo an order of magnitude small fluctuation at the moment of trajectory mutation, which can keep the robot arm running smoothly. The joint angle time series was imported into SimMechanics as the driving force to control the arm to do the same helical curve motion, which verified the universality of the driving force of the joint angle time series obtained in Adams. The wear condition and surface characteristics of the most heavily worn tail piece were analyzed, and trajectory verification and laser repair experiments were carried out in different regions. A 3D scanner was used to obtain the point cloud data of the outer edge of the tail vane, and MeshLab software was used to further process the cloud data and reconstruct the surface to be processed. Using Boolean operation, the shear wear model of the complete blade model can be obtained to obtain the model of the area to be augmented, and imported into the cladding remanufacturing assistant programming software to generate the path program. The robot moved smoothly, the cladding processing time for the tailpiece was 70 min, and the geometric features after cladding were consistent with the original blade, and the molding quality was good. The research provides a reference for the repair 万方数据 III of spiral blades and the remanufacture of other complex curved parts, and has good engineering application value. The paper has 70figures, 6 tables, and 54 references. Keywords shearer drum spiral blade; laser cladding experiment; robot path and trajectory ; Matlab Robotics Toolbox；Adams；SimMechanics 万方数据 IV 目目录录 摘摘要要........................................................................................................................................... ⅠⅠ 目目录录...........................................................................................................................................IV 图清单图清单........................................................................................................................................VIII 表清单表清单......................................................................................................................................... XII 变量注释表变量注释表................................................................................................................................XIII 1 绪论绪论.............................................................................................................................................1 1.1 问题来源及选题背景............................................................................................................... 1 1.2 采煤机螺旋滚筒的磨损以及修复........................................................................................... 1 1.3 机械臂轨迹规划问题的研究现状........................................................................................... 3 1.4 磨损曲面重构与熔覆路径生成研究现状............................................................................... 4 1.5 课题研究的意义及主要内容.................................................................................................. 6 2 熔覆实验用机器人运动学分析熔覆实验用机器人运动学分析..................................................................................................8 2.1 机器人学的数学基础............................................................................................................... 8 2.2 机器人的技术参数................................................................................................................. 13 2.3 机器人改进 DH 模型的构建..................................................................................................14 2.4 机器人正运动学分析............................................................................................................. 16 2.5 机器人逆运动学分析............................................................................................................. 19 2.6 机器人工作空间分析............................................................................................................. 28 2.7 机器人末端轨迹规划............................................................................................................. 30 2.8 本章小结................................................................................................................................. 40 3 机器人末端螺旋曲线轨迹仿真分析机器人末端螺旋曲线轨迹仿真分析........................................................................................41 3.1 机器人动力学理论基础......................................................................................................... 41 3.2 机器人三维模型的构建......................................................................................................... 42 3.3 基于 Adams 的螺旋曲线运动轨迹仿真分析........................................................................44 3.4 基于 SimMechanics 的螺旋曲线轨迹仿真分析....................................................................50 3.5 本章小结................................................................................................................................. 55 4 采煤机滚筒螺旋采煤机滚筒螺旋叶片叶片的激光熔覆修复实验的激光熔覆修复实验............................................................................56 4.1 激光熔覆平台简介................................................................................................................. 56 4.2 采煤机滚筒螺旋叶片的激光熔覆修复实验......................................................................... 57 万方数据 V 4.3 本章小结................................................................................................................................ 65 5 5 结论与展望结论与展望................................................................................................................................ 66 5.1 结论........................................................................................................................................ 66 5.2 展望........................................................................................................................................ 66 参考文献参考文献....................................................................................................................................... 67 作者简历作者简历....................................................................................................................................... 70 学位论文原创性声明学位论文原创性声明...................................................................................................................71 学位论文数据集学位论文数据集........................................................................................................................... 72 万方数据 VI Contents Abstract.........................................................................................................................................ⅠⅠ Contents........................................................................................................................................IV List of Figures...........................................................................................................................VIII List of Tables...............................................................................................................................XII List of Variables........................................................................................................................XIII 1 Introduction................................................................................................................................ 1 1.1 Source of the problem and background of the selected topic....................................................1 1.2 Wear and repair of coal miner drums.........................................................................................1 1.3 Current status of research on robot arm trajectory planning..................................................... 3 1.4 Research status of wear surface reconstruction and cladding path generation..........................4 1.5 Significance and main content of the study...............................................................................6 2 Kinematics analysis of robot for cladding experiment............................................................8 2.1 Mathematical basis of Robotics.................................................................................................8 2.2 Technical parameters of robot..................................................................................................13 2.3 Construction of improved DH model for robot.......................................................................14 2.4 Positive kinematics analysis of robot.......................................................................................16 2.5 Inverse kinematics analysis of robot........................................................................................19 2.6Analysis of robot workspace....................................................................................................29 2.7 Research on robot end trajectory planning..............................................................................30 2.8 Summary of this chapter..........................................................................................................40 3 Dynamic simulation analysis of robot end spiral curve trajectory......................................41 3.1 Theoretical basis of robot dynamics........................................................................................41 3.2 Construction of 3D robot model..............................................................................................42 3.3 Simulation analysis of spiral curve trajectory based on Adams.............................................. 44 3.4 Simulation analysis of spiral curve trajectory based on SimMechanics..................................50 3.5 Summary of this chapter..........................................................................................................55 4 Laser cladding repair experiment of shearer spiral drum....................................................56 4.1 Brief introduction of laser cladding plat..........................................................................56 4.2 Laser cladding repair experiment of shearer spiral drum........................................................57 万方数据 VII 4.3 Summary of this chapter..........................................................................................................65 5 Conclusion and Prospect..........................................................................................................66 5.1 The main work and conclusion of this paper...........................................................................66 5.2 Prospect....................................................................................................................................66 References.....................................................................................................................................67 Author’s Resume..........................................................................................................................70 Declaration of Thesis Or