基于虚拟样机技术的4-DOF混联码垛机器人运动学和动力学的研究及参数优化

发布时间：2018-04-08 22:08

本文选题：4-DOF混联码垛机器人　切入点：运动学　出处：《南京理工大学》2012年硕士论文

【摘要】：近年来使用于自动化生产线上的由串并联机构组成的混联机器人的开发及应用是机械加工业的发展趋势,本文对4-DOF混联码垛机器人进行的运动学、动力学分析及参数化优化设计,对机器人的控制具有重要的理论意义和实用价值。本文结合齐次坐标变换矩阵和D-H法对码垛机器人进行运动学求解,获得了所有关节的位置正反解析解,运用运动影响系数矩阵对码垛机器人进行了速度和加速度分析,得到了简洁明了的速度和加速度表达式。对码垛机器人进行结构简化,并将简化后的结构拆分为左支链和右支链,运用凯恩法推导出其动力学方程模型。然后在Pro/E环境下建模并进行虚拟装配得到机器人的总体结构模型,导入ADAMS环境下对该机器人进行运动学仿真分析,得到机器人末端位置的位移、速度和加速度曲线图,并将仿真分析得到的结果与理论计算的结果进行比较,通过仿真分析验证了理论计算的正确性,为该机器人的动力学研究及参数化优化设计提供了可靠基础。最后,在ADAMS/View环境下建立码垛机器人参数化模型,选择设计变量,设定变量的变化范围,确定优化目标,应用ADAMS/View自带的强大设计研究和优化设计功能模块,对模型进行参数化优化设计,最终得到一组设计变量值使得码垛机器人的动力学性能最优。
[Abstract]:In recent years, the development and application of hybrid robot composed of series-parallel mechanism used in automatic production line is the development trend of mechanical processing industry. The kinematics of 4-DOF hybrid palletizing robot is discussed in this paper.Dynamic analysis and parametric optimization design have important theoretical significance and practical value for robot control.In this paper, the kinematics of the palletizing robot is solved by using the homogeneous coordinate transformation matrix and D-H method. The forward and inverse analytical solutions of all joints are obtained, and the velocity and acceleration of the palletizing robot are analyzed by using the motion influence coefficient matrix.A concise expression of velocity and acceleration is obtained.The structure of the palletizing robot is simplified, and the simplified structure is divided into left and right branching chains. The Kane method is used to deduce its dynamic equation model.Then modeling and virtual assembly in Pro/E environment to get the overall structure model of the robot, then the kinematics simulation analysis of the robot under the ADAMS environment is carried out, and the displacement, velocity and acceleration curves of the robot end position are obtained.The results obtained from simulation analysis are compared with the results of theoretical calculation, and the correctness of the theoretical calculation is verified by simulation analysis, which provides a reliable basis for the dynamics research and parametric optimization design of the robot.Finally, the parameterized model of palletizing robot is established in ADAMS/View environment, the design variables are selected, the range of variables is set up, the optimization goal is determined, and the powerful design research and optimization design function module of ADAMS/View is used.Finally, a set of design variables is obtained to optimize the dynamic performance of the palletizing robot.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH246;TP242

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