四自由度混联机器人离线编程系统研究

发布时间：2018-01-11 10:36

本文关键词：四自由度混联机器人离线编程系统研究　出处：《郑州轻工业学院》2016年硕士论文　论文类型：学位论文

【摘要】：现代物流等行业发展迅速,以搬运与码垛作业为主要任务的混联机器人以其结构稳定,占地空间小,负载能力强等优点,受到众多企业的关注。传统机器人的编程方式,由于需要将任务点逐一示教,编程结果依靠经验,复杂路径耗时过多,正确性差,工作人员安全无法保证等不足,难以满足现代物流业对效率和准确性的要求,因此离线编程系统越来越成为发展的趋势,本文通过VB对Solidworks二次开发研究了混联机器人的离线编程系统,主要工作如下:首先,本文深入研究了离线编程系统的关键技术,并利用Access数据库技术,通过Visual Basic 6.0对Solid Works API函数的二次开发,完成了零部件参数化设计。采用“自上而下”的自动装配技术,完成虚拟装配模型的创建,根据本文混联机器人工作特点,应用4×4矩阵法,利用空间坐标变换,完成虚拟工作单元的参数化布局。其次,针对混联机器人结构特点,建立D-H坐标系,利用分离变量法对四自由度机器人进行运动学分析和求解,并采用ADAMS仿真软件进行运动学分析验证,求出了机器人速度,加速度运动学特性曲线。再次,以运动插值时间最短为优化目标,采用加入外点罚函数的遗传算法对机器人进行了关节空间的“P-T-P”轨迹优化。针对运动干涉和产生的动态碰撞问题,采用了基于包围球的碰撞检测算法对运动仿真过程实施动态监测,并运用动态相交测试算法验证了碰撞检测的可行性。最后总体设计了离线编程系统参数化虚拟建模模块,运动学模块,轨迹规划和自动编程及状态监测模块等,通过Active X方式开发出运动仿真模块,对自动编程结果基于Soldworks进行了COSMOS motion运动仿真验证。
[Abstract]:Modern logistics and other industries are developing rapidly. The hybrid robot with handling and palletizing as its main task has the advantages of stable structure, small space, strong load capacity and so on. The traditional robot programming method needs to teach the task points one by one, the programming result depends on experience, the complex path is time-consuming, and the correctness is not good. Staff safety can not be guaranteed and so on, it is difficult to meet the requirements of efficiency and accuracy of modern logistics industry, so off-line programming system has become a trend of development. In this paper, the off-line programming system of hybrid robot is developed by VB for Solidworks. The main work is as follows: firstly, the key technology of off-line programming system is studied deeply in this paper. Using Access database technology, the second development of Solid Works API function is carried out by Visual Basic 6.0. The parameterized design of parts and components is completed, and the virtual assembly model is created by "top-down" automatic assembly technology. According to the working characteristics of the hybrid robot in this paper, the 4 脳 4 matrix method is applied. The parameterized layout of the virtual work unit is completed by using the spatial coordinate transformation. Secondly, the D-H coordinate system is established according to the structural characteristics of the hybrid robot. The kinematics analysis and solution of the four-degree-of-freedom robot are carried out by using the method of separating variables, and the velocity of the robot is obtained by using the ADAMS simulation software to verify the kinematics analysis. Thirdly, take the shortest time of motion interpolation as the optimization target. A genetic algorithm with penalty function is used to optimize the "P-T-P" trajectory in the joint space of the robot, aiming at the problem of motion interference and dynamic collision. The collision detection algorithm based on bounding ball is used to dynamically monitor the motion simulation process. Finally, the parameterized virtual modeling module, kinematics module, trajectory planning and automatic programming and state monitoring module of off-line programming system are designed. The motion simulation module is developed by Active X, and the automatic programming result is verified by COSMOS motion motion simulation based on Soldworks.
【学位授予单位】：郑州轻工业学院
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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