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以施工中常用的小车变幅式塔吊为研究对象,提出基于机器人运动学D-H模型的虚拟塔吊运动学建模方法;分析了虚拟塔吊机器人关节构成及相应的运动副自由度变量,在此基础上构建了虚拟塔吊D-H杆件坐标系和杆件参数表,求得吊钩运动学方程;提出自主吊装路径规划Quick Guess改进算法,测试了算法性能;提出基于先进虚拟现实软件开发平台EON Professional 6.0的软件解决方案,初步构建了虚拟吊装仿真试验平台,并基于实时显示的仿真数据验证了吊钩运动学方程的正确性。研究结果表明:采用D-H模型实现虚拟塔吊运动学建模是可行的和有效的,具有简单直观的几何意义,可适用于其他复杂多体吊装机械的运动学建模;Quick Guess改进算法考虑了塔吊实际工况限制以及减少路径除尖角的计算,合理约束随机点的选择范围,提高了路径规划可靠性以及计算性能;规划的吊装路径符合实际吊装情况,更便于塔机司机的操作。
Based on the DH model of robot kinematics, this paper proposes a virtual tower crane kinematics modeling method based on the commonly used trolley crane in the construction. Based on the analysis of the joint structure of the virtual crane crane and the corresponding variable degrees of freedom of movement, The coordinate system of the tower crane and the parameter table of the pole are constructed and the kinematic equation of the crane is obtained. The improved algorithm of Quick Guess is proposed and the performance of the algorithm is tested. Based on the advanced virtual reality software development platform EON Professional 6.0 Software solution, the virtual lifting simulation test platform has been preliminarily constructed, and the correctness of the kinematic equation of the lifting hook has been verified based on the real-time simulation data. The results show that it is feasible and effective to use the DH model to model the kinematic modeling of the virtual tower crane, which has the simple and intuitive geometric meanings and can be applied to the kinematics modeling of other complex multi-body hoisting machinery. The improved Quick Guess algorithm considers the tower crane Actual working conditions and reduce the calculation of sharp corners of the path, reasonably constrained the selection range of random points, improve the reliability of path planning and computing performance; hoisting path planned in line with the actual hoisting situation, more convenient for the operation of tower crane drivers.