基于改进D-H方法的管片拼装机运动学建模方法

Kinematics Modelling of the Segment Assembly Erector Based on the Improved D-H Method

针对目前管片拼装过程智能化程度相对较低的现状,提出了一种含有可变杆长的管片拼装机运动学建模方法。分析含有可变杆长的6自由度管片拼装机运动机理,引入“虚拟主动关节”,利用改进的D-H法则建立拼装机运动学模型,并利用MATLAB和ADAMS进行联合仿真,验证了所提运动学建模方法的正确性。

For the current situation of the intelligence level of the segment assembly process, this paper proposed a kinematics modeling method for the 6-DOFs segment assembly erector which contained a length changeable link. The modeling process was consisted of the following three parts. Firstly, the paper analyzed the kinematic mechanism of the 6-DOFs segment assembly erector, then with the help of a virtual active joint, the motion of the length changeable link was described correctly;secondly, the improved D-H method was used to build the kinematics model of the 6-DOFs segment assembly erector;last but not least, the cosimulation of MATLAB and ADAMS was used to verify the correctness of the kinematics modeling method proposed in this paper,and the main reason for the errors was analyzed.