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華中科技大學學報(自然科學版) 2020, Vol. 48 Issue (10): 31-37 DOI10.13245/j.hust.201006

欄目:機械與材料工程
面向并聯機構的艙段自動對接方法
李世其 , 陳 棟 , 王峻峰
華中科技大學機械科學與工程學院,湖北 武漢 430074
摘要 研究了并聯機構實現艙段自動對接的方法.首先,利用基于多位姿特征點測量的四元數位姿擬合方法得到各局部坐標系與測量坐標系的相對位姿關系,利用位姿傳遞轉化方法將移動艙段與固定艙段的位姿偏差等價轉換為并聯機構動平臺的初始位姿與目標位姿的位姿偏差;然后,建立動平臺的多目標調姿軌跡優化模型,利用改進的免疫克隆選擇算法及模糊綜合評價法得到各目標函數取值為平均最優時的B樣條軌跡參數,規劃出動平臺實現艙段對接的調姿軌跡及各電動缸物理參數軌跡;最后,進行艙段對接試驗.試驗結果為兩艙段端面對正、銷孔對齊,充分證明了該方法對指導并聯機構實現艙段對接具有較高的有效性及實用性.
關鍵詞 并聯機構 ;艙段對接 ;位姿測量 ;位姿擬合 ;調姿軌跡
Automatic docking method of cabins with parallel mechanism
LI Shiqi , CHEN Dong , WANG Junfeng
School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China
Abstract The automatic docking method of cabins with parallel mechanism was studied.First,the relative pose relations between each local coordinate system and the measurement coordinate system were obtained by means of the quaternion pose fitting method based on the multi-position pose feature point measurement,and the pose deviation between the mobile cabin and the fixed cabin was converted into the deviation between the initial pose and the target pose of the mobile platform of the parallel mechanism by using the pose transformation method.Then,the multi-objective pose alignment trajectory optimization model was established,the parameters of B-spline trajectory when each objective function got the average optimal value were obtained by the improved immune clone selection algorithm and the fuzzy comprehensive evaluation method,and the pose alignment trajectory of the mobile platform to accomplish cabins docking and the physical parameter trajectories of each electric cylinder were planned.Finally,a cabin docking test was carried out.Test results show that the end faces of the two cabins are aligned and all the pins are aligned with the holes,proving that the method is effective and practical for guiding the parallel mechanism to realize cabins docking.
Keywords parallel mechanism ; cabins docking ; pose measurement ; pose fitting ; pose alignment trajectory
基金資助裝備預研重點基金資助項目(61409230103).

中圖分類號TP242
文獻標志碼A
文章編號1671-4512(2020)10-0031-07
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文獻來源
李世其, 陳 棟, 王峻峰. 面向并聯機構的艙段自動對接方法[J]. 華中科技大學學報(自然科學版), 2020, 48(10): 31-37
DOI:10.13245/j.hust.201006
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