【摘要】 为提高实体曲面工件超声自动化测量中曲面特征选取效率与探头的平稳性,对五自由度超声检测臂的终端探头从初始位姿到目标位姿进行最优轨迹规划.利用D-H表示法和牛顿-欧拉递推方法,分别建立超声检测臂运动学和动力学模型,以时间为参数,采用五次多项式对探头的初始位姿与目标位姿之间的运行轨迹进行拟合,以轨迹时间最短为目标,运用黄金分割法来寻找各关节的最大速度、加速度和驱动力(矩)约束下的最优轨迹.该方法符合实际工程应用要求,提高了探头运行平滑性和检测效率.更多还原

【Abstract】 The trajectory of ultrasonic detector end of a 5-DOF ultrasonic inspection manipulator was planned from the origin pose to the aimed one to improve the efficiency of feature point selection during the ultrasonic inspection of surface entity with high stability of probe.Firstly,the D-H notation and Newton-Euler recursive method were applied to set up the kinematics and dynamics models,respectively.Then,a quintic polynomial parameterized with the time of trajectory propagation was taken to fit the trajectory of ultrasonic detector.Finally,aiming to move in the shortest time,golden-section was applied to search the time optimal trajectory with the maximal limits of velocity and acceleration including the torque of joint actuators.This method satisfies the project requirements and obviously improves the efficiency and stabilization of the ultrasonic inspection.更多还原