JT-1型工业机器人性能分析与实验研究

发布时间：2018-01-08 11:41

本文关键词：JT-1型工业机器人性能分析与实验研究　出处：《五邑大学》2017年硕士论文　论文类型：学位论文

【摘要】：课题来源于产学研校企合作,根据市场形势及自动化生产线的需求,某合作企业立项自主研发一款JT-1型工业机器人,并开发出了工业样机。根据企业的项目要求,设定了JT-1型工业机器人的技术参数,参与了JT-1型工业机器人的研发设计,总结了工业机器人研发的方法与流程;建立了JT-1型工业机器人的D-H坐标系,通过理论计算获得了JT-1型工业机器人的运动学方程,理论求解得到JT-1型工业机器人的运动学方程的正解、反解和雅克比,并进行了计算验证;应用有限元软件ANSYS对JT-1型工业机器人危险位姿状态下各机械臂及总装结构进行了静力理论分析校核;理论分析了JT-1型工业机器人的危险位姿静刚度,实验测试了JT-1型工业机器人多种位姿下的静刚度,实验测试得到了JT-1型工业机器人静刚度与臂伸长量变化的关系;对大臂结构进行了拓扑优化得到了优化方案,并对比分析了优化前后方案的性能。使用Matlab Robotics工具箱建立了JT-1型工业机器人的仿真模型,运用联合Matlab Robotics和Solidworks motion的方法对JT-1型工业机器人的运动学和动力学进行了仿真分析,得到了JT-1型工业机器人工作过程的运动轨迹、运动速度以及各关节的扭力变化;通过有限元分析软件ANSYS对JT-1型工业机器人的整机模态进行了分析,得到了其振动频率及振型;根据理论分析结果确定了实验模态的方案,对JT-1型工业机器人两种特殊位姿的模态进行了实验测试,实验得到了JT-1型工业机器人的各阶固有频率与模态,对比分析了有限元方法和实验方法得到的结果,对工业机器人应用过程中避免共振具有指导意义。
[Abstract]:According to the market situation and the demand of automatic production line, a cooperative enterprise has established a project to develop a JT-1 industrial robot independently. According to the project requirements of the enterprise, the technical parameters of the JT-1 industrial robot are set up, and participate in the R & D and design of the JT-1 industrial robot. The methods and processes of industrial robot research and development are summarized. The D-H coordinate system of JT-1 industrial robot is established, and the kinematics equation of JT-1 industrial robot is obtained by theoretical calculation. The positive solution, inverse solution and Jacobian of the kinematics equation of JT-1 type industrial robot are obtained by theoretical solution, and the calculation results are verified. The finite element software ANSYS is used to analyze and check the mechanical arm and assembly structure of JT-1 industrial robot under the dangerous position and pose state. The static stiffness of dangerous posture of JT-1 industrial robot is analyzed theoretically, and the static stiffness of JT-1 industrial robot under various pose is tested experimentally. The relationship between static stiffness and arm elongation of JT-1 industrial robot is obtained. The topology optimization of the arm structure is carried out and the optimization scheme is obtained. The simulation model of JT-1 industrial robot is established by using Matlab Robotics toolbox. The kinematics and dynamics of JT-1 industrial robot are simulated and analyzed by combining Matlab Robotics and Solidworks motion. The movement track, velocity and torque of each joint of JT-1 industrial robot are obtained. The modal of JT-1 industrial robot is analyzed by finite element analysis software ANSYS, and its vibration frequency and mode are obtained. According to the results of theoretical analysis, the scheme of experimental mode is determined, and the experimental tests are carried out for two special modes of position and pose of JT-1 industrial robot. The natural frequencies and modes of JT-1 industrial robot are obtained experimentally. The results obtained by finite element method and experimental method are compared and analyzed. It is of guiding significance to avoid resonance in the application of industrial robot.
【学位授予单位】：五邑大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】