模块化组合工业机器人的架构设计建模

发布时间：2018-01-05 08:33

本文关键词：模块化组合工业机器人的架构设计建模　出处：《广东工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着机器人技术的兴起,机器人在各个领域广泛应用,涌现出不同类型不同用途的机器人。工业机器人被视为工业自动化生产中的“催化剂”,在自动化生产线上代替人工,提高生产效率方面扮演重要角色。由于传统工业机器人设计周期长,维修费用高等原因,所以引入模块化设计的思想,构建模块化的工业机器人模型库,运用多色集合理论及层析分析法,对工业机器人进行架构设计。完成的工作内容如下：(1)将模块化工业机器人分为六大模块：基座模块、手臂模块、手腕模块、末端执行模块、辅助模块、驱动装置模块,运用柔性化的设计软件T-FLEX CAD系统,建立了一个柔性的标准化组装单元及机械模块库。(2)根据多色集合理论围道矩阵模型以及多色集合层次结构模型,建立了模块化工业机器人的功能模型、方案元库和推理矩阵,实现了从产品初始功能需求到用方案元来表示原始方案的形式化推理过程,并得到一系列的可行方案集。(3)运用层次分析法将得到的可行方案进行优选,根据相应的权重分析,通过推理计算,得出可行方案的排序。(4)设计了模块化工业机器人建模设计系统,该系统由三个子系统构成：工业机器人模块库；多色集合推理模块；层次分析优选模块；该系统完成了从产品初始功能需求到产品架构设计的实现。基于上述完成的工作,实现了模块化工业机器人的架构设计建模。
[Abstract]:With the development of robot technology, the robot is widely used in various fields, the emergence of different types of different uses of the robot. The industrial robot has been regarded as the production of industrial automation in the "catalyst", replace the automated production line, improve production efficiency play an important role. Because the traditional industrial robot design cycle is long, due to higher maintenance costs so, introducing the idea of modular design, industrial robot model base of modular construction, the polychromatic sets theory and analytic hierarchy process, design the architecture of the industrial robot. The working contents are as follows: (1) the modular industrial robot is divided into six modules: module base, arm module, wrist module, terminal the execution module, auxiliary module, drive module, using the T-FLEX design software of flexible CAD system, the establishment of a flexible standard single assembly Element and mechanical module library. (2) according to the theory of polychromatic sets contour matrix model and polychromatic sets hierarchical structure model, established the function model of modular industrial robot, scheme base and reasoning matrix, realized from the initial functional requirements of the product to plan for formal reasoning process to the original plan, and get a series of feasible solution set. (3) the paper uses AHP to get feasible scheme was selected, according to the analysis of the corresponding weights, through calculation, it is feasible to sort. (4) the design of modular industrial robot modeling design system, the system consists of three subsystems: industrial robot module library; polychromatic reasoning module; analytic optimization module; the system is completed from the initial product functional requirements to product architecture design. Based on above work, the module of chemical The modeling of the architecture design of the industry robot.

【学位授予单位】：广东工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242.2

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