基于轨迹的4R机械手的运动学最优参数研究

发布时间：2018-03-18 22:49

本文选题：4R机械手　切入点：运动学分析　出处：《沈阳工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,科技发展大步向前,在工业生产中,工业机器人的应用越来越多,尤其是在自动化物流生产线上,多关节型机器人的应用最为普遍。本文以4R上下料机械手为研究对象,求解其最优机构参数。主本文主要包括了以下几个方面的内容:首先,介绍了本课题的研究背景、目的和意义,国内外工业机器人的发展现状,以及运动学分析、轨迹规划和参数优化的研究现状,为本文研究打下基础。根据实际生产要求,对上下料机械手进行选型,确定其基本结构和作业任务。其次,根据上下料机械手的工作原理,运用D-H方法建立了机械手的运动学方程,并验证其正确性。用反变换法对其进行了运动学逆解的求解,在此基础上,讨论了机械手运动学逆解的选择原则。再次,介绍了几种典型的轨迹规划方法。根据运动学逆解及机械手末端执行器的姿态,计算出机械手在关键位置点的关节角度,然后依据关节在关键点的速度约束和时间分配,采用三次多项式插值方法对机械手的上料运动进行了轨迹规划。随后,根据机械手的运动轨迹及已知的机构参数,提出了以机械手运动“行程最短”为目标函数的方法,使得整个机器人系统耗费能量最小。运动学分析得到的关于机构参数的数学模型和机构参数的合理取值范围作为约束条件,在机械手上料过程中的关键位置点处和运动轨迹上对机械手进行最优机构参数的求解。最后,利用MATLAB软件验证所规划轨迹的正确性,并对求解机构参数最优解前后的机械手上料运动轨迹进行仿真,得到在同一坐标系下二者轨迹的误差,并分析误差的合理性。结果表明,求解的最优机构参数是有效的,对优化机械手结构设计有重要参考价值。
[Abstract]:In recent years, with the development of science and technology, more and more industrial robots have been applied in industrial production, especially in the automatic logistics production line. The application of multi-joint robot is the most common. In this paper, 4R upper and lower manipulator is taken as the research object to solve the optimal mechanism parameters. The main content of this paper mainly includes the following aspects: firstly, the research background of this subject is introduced. The purpose and significance, the development status of industrial robot at home and abroad, and the research status of kinematics analysis, trajectory planning and parameter optimization, lay a foundation for the research of this paper. According to the actual production requirements, the type selection of loading and unloading manipulator is carried out. Secondly, according to the working principle of the upper and lower manipulator, the kinematics equation of the manipulator is established by using D-H method, and its correctness is verified. The inverse transformation method is used to solve the inverse kinematics solution of the manipulator. On this basis, the selection principle of kinematics inverse solution of manipulator is discussed. Thirdly, several typical trajectory planning methods are introduced. The joint angle of the manipulator at the key position is calculated, and then according to the speed constraint and time allocation of the joint at the key point, the cubic polynomial interpolation method is used to plan the trajectory of the manipulator's feeding motion. According to the motion track of the manipulator and the known mechanism parameters, the method of taking the "shortest stroke" of the manipulator as the objective function is proposed. The kinematics analysis results in the mathematical model of the mechanism parameters and the reasonable range of the mechanism parameters as the constraint conditions. The optimal mechanism parameters of the manipulator are solved at the key position and motion track during the feeding process of the manipulator. Finally, the correctness of the planned trajectory is verified by using MATLAB software. The error of the two trajectories before and after solving the optimal solution of the mechanism parameters is simulated, and the rationality of the errors is analyzed. The results show that the optimal mechanism parameters are effective. It has important reference value for optimizing the structure design of manipulator.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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