面向轮毂磨抛的手腕偏置机器人运动学快速求解方法

doi:10.3901/JME.2022.14.126

机械工程学报 ›› 2022, Vol. 58 ›› Issue (14): 126-136.doi: 10.3901/JME.2022.14.126

• 特邀专栏：大型构件视觉测量与机器人加工 • 上一篇下一篇

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面向轮毂磨抛的手腕偏置机器人运动学快速求解方法

刘志恒, 赵立军, 李瑞峰, 葛连正, 夏毅, 朱奎

哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150000

收稿日期:2021-04-12 修回日期:2021-11-01 出版日期:2022-07-20 发布日期:2022-09-07
通讯作者: 李瑞峰(通信作者)，男，1965年出生，博士，教授，博士研究生导师。主要研究方向为移动智能服务机器人系统、工业机器人技术、人工智能。E-mail：lrf100@hit.edu.cn
作者简介:刘志恒，男，1992年出生，博士研究生。主要研究方向为机器人运动控制，机器人仿真规划。E-mail：liuzhiheng@hit.edu.cn
基金资助:
国家重点研发计划“智能机器人”重点专项资助项目(2018YFB1308900)。

Fast Solution Method for the Kinematics of Wrist Offset Robot Oriented to Wheel Hub Grinding and Polishing

LIU Zhiheng, ZHAO Lijun, LI Ruifeng, GE Lianzheng, XIA Yi, ZHU Kui

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150000

Received:2021-04-12 Revised:2021-11-01 Online:2022-07-20 Published:2022-09-07

摘要/Abstract

摘要： 为了提高轮毂加工的质量和效率，设计并研制手腕偏置的磨抛机器人，该手腕机构关节5可实现360°旋转、提高了末端灵活性。但机器人不满足Pieper准则，逆运动学方程复杂、高度非线性、耦合性强，有效准确地求解逆运动学困难。为解决这一问题，提出了一种逆运动学快速求解方法，该方法构建了新型的非线性方程，将传统的六个关节角度求解简化为三个关节角度求解。基于该方程，提出了由粗到精的两步法求解逆运动学，第一步估算多组关节角度初始值，基于当前关节角度选取初始值，可避免局部最优问题，提高求解稳定性；第二步根据初始值精确求解所有关节角度值，并对4、6轴共线时的多组解问题，给出了机器人特殊状态的解析解。仿真试验从精度、效率、多组解等指标验证了逆运动学算法满足轮毂磨抛加工要求，并在轮辐加工路径中进一步证明了其有效性。

关键词: 磨抛机器人, 手腕偏置, 逆运动学, 轮毂加工, 非线性方程

Abstract: In order to improve the quality and efficiency of wheel hub processing, a grinding and polishing robot with an offset wrist is designed. The wrist mechanism joint 5 can realize 360-degree rotation and improve the flexibility. But the robot does not meet Pieper's criteria. The inverse kinematics equations are complex, highly nonlinear, and strongly coupled, which makes it difficult to solve inverse kinematics effectively and accurately. To solve this problem, a fast solving method of inverse kinematics is proposed. This method constructs a new type of nonlinear equation, which simplifies the traditional six-joint angle solution to three-joint angle solution. Based on this equation, a two-step method from coarse to fine is proposed to solve inverse kinematics. The first step is to estimate the initial values of multiple sets of joint angles and select the initial values based on the current joint angles. It can avoid local optimal problems and improve the stability of the solution. The second step is to accurately solve all the joint angle values according to the initial values. For the multi-group solution problem when the 4 and 6 axes are collinear, the analytical solution of the special state of the robot is given. In terms of accuracy, efficiency, and multiple solution indicators, simulation experiments verify that the inverse kinematics algorithm meets the requirements of wheel hub grinding and polishing. Its effectiveness is further proved in the spoke processing path.

Key words: grinding and polishing robot, wrist offset, inverse kinematics, wheel hub processing, nonlinear equation

中图分类号:

TP242

刘志恒, 赵立军, 李瑞峰, 葛连正, 夏毅, 朱奎. 面向轮毂磨抛的手腕偏置机器人运动学快速求解方法[J]. 机械工程学报, 2022, 58(14): 126-136.

LIU Zhiheng, ZHAO Lijun, LI Ruifeng, GE Lianzheng, XIA Yi, ZHU Kui. Fast Solution Method for the Kinematics of Wrist Offset Robot Oriented to Wheel Hub Grinding and Polishing[J]. Journal of Mechanical Engineering, 2022, 58(14): 126-136.

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面向轮毂磨抛的手腕偏置机器人运动学快速求解方法

Fast Solution Method for the Kinematics of Wrist Offset Robot Oriented to Wheel Hub Grinding and Polishing

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