| This dissertation aims at "XXX" project,a national major special project.In order to install optoelectronic components on the device and ensure the assembling accuracy,operation efficiency and safety in the installation operation,this dissertation innovatively proposes a vehicle-type equipment that can be used for high-precision and heavy-duty installation in a space-limited environment.This equipment is able to meet the requirements of the project and make up for the deficiency of currently applied engineering machinery in high-precision indoor-installation application scenarios.This dissertation proposes a heavy-duty installation vehicle integrated by six subsystems using modular design ideas.This vehicle is able to conduct omnidirectional walking and coarse/ precise feeding with multiple degrees of freedom.Working space envelope is calculated to verify its movement reachability for installation tasks.In terms of structural statics performance verification,this dissertation uses ANSYS Workbench to calculate the structural strength of the equipment,and gives critical structural deformation and stress information of the equipment under a working load of 4.5 tons.In addition,the stability of the erection and overturning electric cylinder in the equipment was investigated.Modal analysis of the load platform was carried out.The first six natural frequencies of the load platform were obtained,which provides a basis for monitoring it’s resonance with surrounding environment.Considering the flexibility of the load platform,elastic vibration will inevitably occur during the operation,which will affect the accuracy and efficiency of the installation operation,therefore,this dissertation takes vertical residual vibration suppression of the load platform as the main goal.This dissertation conducts a rigid-flexible coupling dynamics study on the overturning mechanism of the vehicle.Based on the method of Floating Frame of Reference Formulation relative description,rigid-flexible coupling multi-body system dynamic model is built based on actual constraints.This model analyzed system kinetic energy,generalized elastic force,generalized external force and constraint equations and obtained the system mass matrix,stiffness matrix,external force matrix and Jacobian constraint matrix using the solutions listed above.Lagrange equation of the first kind multiplier method is applied to obtain the total dynamics equation of the system,and uses the Generalized α method to compile the dynamics solver.Then,vertical vibration amplitude of the load platform,speed of operation and power consumption is taken as the optimization of guide,based on the 5-segment quintic polynomial curve and multi-objective optimization algorithm,the Non-dominated Sorting Genetic Algorithm II,a vibration suppression trajectory with better comprehensive performance is planned.The vertical residual vibration amplitude of the load platform has been reduced by an order of magnitude,and the maximum use of power has been reduced by about 11.3%.The correctness of the results has been verified by Adams.In addition,this dissertation establishes mathematical model for the two-stage electric cylinder under the overturning mechanism for the realization of the trajectory tracking control.The Internal Model Control,"active damping" and fuzzy control strategy are combined to design current loop,speed loop and position loop controllers.The antidisturbance trajectory tracking control simulation of the given optimal trajectory is carried out with the sudden external disturbance,excellent trajectory tracking effect and anti-external disturbance effect were obtained.In conclusion,this dissertation provides equipment design schemes and motion trajectory optimization scheme that can tackle installation problem of precision heavyduty optoelectronic components,which has positive referential significance for the machine design and vibration suppression trajectory planning of such engineering devices in the future. |
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