基于机器人操作的冲压自动化生产线虚拟仿真研究

发布时间：2018-07-08 10:14

本文选题：冲压生产线 + 虚拟样机技术　；参考：《广东工业大学》2015年硕士论文

【摘要】：虚拟样机技术作为一种新技术,在制造领域的地位越来越重要,也在我国取得了一定的成就。虚拟样机结合计算机技术,能够提前发现产品设计误差,也能完成人无法完成的某些试验。这种技术符合现代提倡的绿色制造概念,也能在很大程度上为企业节省资金,缩短开发周期。本文主要结合模态分析基础理论、有限元分析理论、虚拟样机理论基础、机器人D-H建模理论和机器人运动学分析理论实现冲压生产线的优化。具体研究内容如下：(1)利用有限元分析软件ANSYS来研究冲压自动化生产线的零部件的结构特性。将曲柄转角0°～180°范围内每隔10°取一组数据进行研究,总共18组数据。通过压机机身的静力学分析可知机身的强度符合工程要求。通过压机机身的模态分析得到压机机身在转轴转动一周内的固有频率曲线和阵型,结果显示从第10阶开始压机机身的固有频率曲线显现一定的规律性,且随着阶数的增加相邻阶数间的频率差值越来越小。因此,1～10阶固有频率对压机机身的振动特性影响较大,在工作状态下应该避免1～10阶的频率范围,防止共振产生大的危害。(2)为了提高冲压生产线的生产节拍提出一种较好的压机与机器人运动协同新方法,该方法结合模态分析的结果和压机与机器人的运动动作有效的减少机器人的等待时间。而且为了评定该方法下得出的不同方案的优劣性,提出了三种运动协同方案评价指标。(3)为了建立完整的冲压生产线虚拟样机系统,凭借Pro/E完成冲压生产线压机和机器人的三维造型、虚拟装配和静态干涉检查,通过ADAMS软件完成冲压生产线的虚拟建模及动态干涉检查,利用传感器和测量工具完成冲压生产线上的双料检测系统、机器人工作空间控制系统和抓料重量控制系统等的虚拟仿真工作,真实的模拟冲压生产线正常工作下的基本组成功能。(4)为了优化冲压生产线,利用运动协同新方法来规划轨迹,凭借ADAMS软件完成机器人轨迹正解和逆解。通过ADAMS和MATLAB联合仿真功能补偿轨迹误差,实时跟踪和反馈轨迹误差,将误差控制在最小0.001范围内。本课题对冲压生产线的虚拟样机技术研究还处于初级阶段,不够完善,但是实现了虚拟样机设计、生产线协同、故障紧急急停模拟、生产线轨迹规划等多项技术集成创新。而且本课题结合四种不同类型的软件进行数据交换,结合多种学科理论基础进行并行研究,各种问题进行多角度考虑,是新颖的研究手段。
[Abstract]:As a new technology, virtual prototyping technology is becoming more and more important in the manufacturing field, and it has made some achievements in our country. The virtual prototype combined with computer technology can find the product design error in advance, and can also complete some experiments that people can't accomplish. This technology conforms to the modern concept of green manufacturing, which is also very large. This paper mainly combines the basic theory of modal analysis, the finite element analysis theory, the virtual prototype theory basis, the robot D-H modeling theory and the robot kinematics analysis theory to optimize the stamping production line. The specific research content is as follows: (1) using the finite element analysis software ANSYS to study The structural characteristics of parts of the stamping automation production line are studied. A group of data is taken every 10 degrees within the range of the crank angle of 0 to 180 degrees, and a total of 18 sets of data are studied. Through the static analysis of the press body, the strength of the fuselage is conformed to the engineering requirements. The body of the press body is analyzed by the modal analysis of the press body to get the rotating shaft in a week. The natural frequency curve and formation show that the natural frequency curves of the press body from the tenth order show certain regularity, and with the increase of the order, the frequency difference between the adjacent orders becomes smaller and smaller. Therefore, the 1~10 order natural frequency has a great influence on the vibration characteristics of the press body, and the frequency of the 1~10 order should be avoided in the working state. (2) in order to improve the production line of the stamping production line, a better new method is proposed, which combines the results of modal analysis and the motion of the press and the robot to reduce the waiting time of the robot effectively. In order to build a complete virtual prototyping system for stamping production line, (3) to complete the three-dimensional modeling of press and robot, virtual assembly and static interference check, and complete the virtual modeling and dynamic interference of the stamping production line through ADAMS soft parts in order to establish a complete virtual prototype system of the stamping production line by Pro/E. Inspection, using the sensors and measuring tools to complete the virtual simulation work of the double material detection system on the stamping production line, the robot working space control system and the grab weight control system, and the real simulation of the basic components and functions of the stamping production line. (4) in order to optimize the stamping production line, a new method of motion coordination is used. By using the ADAMS software to complete the positive and inverse solution of the trajectory of the robot, the trajectory error is compensated by the joint simulation function of ADAMS and MATLAB, and the error of the trajectory is tracked and feedback in real time, and the error is controlled in the minimum 0.001 range. Virtual prototype design, production line coordination, fault emergency stop simulation, production line trajectory planning, and many other technological integration innovations. Moreover, this topic is combined with four different types of software for data exchange, combined with the theoretical basis of various disciplines to carry out parallel research, various problems are considered in multiple angles, and it is a new research means.
【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG385.9

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