八自由度铺丝机器人自运动流形分析及优化

Self-Motion Manifolds Analysis and Optimization of an 8-DOF Fiber Placement Manipulator

针对七自由度铺丝机器人空间运动灵活性相对不足的特点,设计出一种新型八自由度铺丝机器人,并对其逆解进行了流形分析。八自由度铺丝机器人由一连接在直线导轨上的六自由度库卡机器人外加一转动芯模组成,这样相对于七自由度的机械本体结构更加灵活,可以适应更复杂的工作环境。对新设计的八自由度铺丝机器人的逆解流形进行了分析,得出其位置工作空间流形和姿态工作空间流形。由于八自由度铺丝机器人的逆运动学优化解在实际应用中更有价值,所以以关节运动位移及运动动能最小为约束泛函,分别得到了位置工作空间和姿态工作空间的优化解流形,最后以S形进气道为例进行了仿真与分析,验证方法的正确性。

ABSTRACT：The 7-DOF fiber placement manipulator is lack of dexterity in spatial performance, so an 8-DOF re- dundant fiber placement manipulator model is established in the paper. Based on this, the manifolds of its inverse so- lutions were analyzed. The 8-DOF fiber placement manipulator consists of the 6-DOF KUKA manipulator based on one slide rail and the rotating mandrel. This design is much more dexterous compared with the 7-DOF manipulator and can be adapted to more complicated work environment. In this paper, by analyzing the manifolds of its inverse so- lutions, the accurate position and posture sub-manifolds can be respectively obtained. It has more valuable applica- tion in inverse kinematics optimization solutions of 8-DOF fiber placement robot, so the optimization solutions mani- folds of the position and posture joints working space can be obtained with the constraint functions which are constitu- ted by the minimum joint motion displacement and motion kinetic energy in this paper. In the last, the method was verified by using the S-shaped inlet simulation.