盾构机换刀机器人路径规划研究

Path planning for tool changing robot of shield machine

为实现作业环境结构复杂、干涉多、视野受限工况下换刀作业的自动化,进行换刀机器人路径规划研究。首先,提出机器人换刀方案和机器人本体机构,对换刀机器人路径规划问题进行描述;其次,建立机器人数学模型、目标位姿计算方法;随后,提出基于距离判断的碰撞检测方法、目标导向约束下的随机点生成策略、冗余路径点删除策略、B样条曲线路径平滑处理策略,实现路径的优化;最后,搭建换刀机器人仿真平台,并进行仿真分析,结果验证了所提方法的有效性。

The replacement of disc cutter is an important part of the operation of shield machines.To achieve automated tool changing operations under complex working environment,frequent interference,and limited view conditions,this paper conducts research on path planning for tool changing robots.First,a robot tool changing operation plan and the robot body mechanism are proposed,and the problems of path planning for the tool changing robot are described.Second,a mathematical model of the robot is built and a method for calculating the target pose is developed.Then,to achieve path optimization,a collision detection method based on distance judgment,a random point generation strategy under target oriented constraints,a redundant path point deletion strategy,and a B-spline curve path smoothing processing strategy are proposed.Finally,a simulation platform for the tool changing robot is built and the algorithm is simulated and analyzed.The results validate the effectiveness of the proposed method.