直角坐标搬运机器人设计与性能分析

发布时间：2018-01-16 08:28

本文关键词：直角坐标搬运机器人设计与性能分析　出处：《沈阳工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：伴随着中国制造2025重要战略布局以及工业4.0的高新科技发展大潮,工业机器人作为高端智能化装备的重要组成部分,其发展和研究的进程再次被提到新的重要位置。机器人技术是多门类多学科的重要集合体,机器人的发展水平从一定程度上反映了一个国家制造业的发展状况。本文主要设计研究自动化生产线中的搬运工位——直角坐标搬运机器人,在了解其运动工作方式和参数要求的基础上,计算选择机械结构,并对控制系统进行硬件设计和软件开发,最后运用ANSYS Workbench和ADAMS对设计和计算的结果进行验证分析,为直角坐标搬运机器人应用系统的研究提供解决方案。根据直角坐标搬运机器人的工作要求选择运动结构,并根据设计参数分别对机器人各轴进行运动方式的设计选择,并计算选择合适的驱动单元伺服电机和减速器。根据工件的抓取方式以及机器人的运动特点,选择机器人的末端工作装置。最后根据各零部件尺寸建立直角坐标搬运机器人三维模型。分析自动化设备控制系统的特点,选择满足机器人运动特点和工作要求的控制系统组件。设计控制系统的硬件结构,并对各结构单元特点进行分析研究。最后对运动控制原理进行研究,得出本文的最佳控制方式为带有速度前馈的全闭环位置控制系统。根据机器人所要实现的总体功能,使用程序开发软件VB来设计更为方便简洁的机器人控制系统的人机交互界面;为实现机器人工作运动要求,对人工交互界面的功能进行完善,结合运动控制卡的运动函数库对机器人的运动控制程序进行编写设计。最后对机器人方案进行验证,对其结构和动态特性分析以及运动学仿真可以有效的避免失误,提高工作效率。首先对机器人进行有限元分析,然后对机器人工作的运动过程进行仿真分析,分析机器人在工作过程中运动状态和运动参数变化以及机器人末端轨迹运行情况,验证是否满足设计要求。
[Abstract]:With the important strategic layout of made in China 2025 and the development of high and new technology in industry 4.0, industrial robot is an important part of high-end intelligent equipment. The process of its development and research is once again mentioned as a new important position. Robot technology is an important collection of many kinds and disciplines. The development level of robot reflects the development of a country's manufacturing industry to a certain extent. This paper mainly designs and studies the mover position-Cartesian coordinate moving robot in the automatic production line. On the basis of understanding its motion working mode and parameter requirements, the mechanical structure is calculated and selected, and the hardware design and software development of the control system are carried out. Finally, the design and calculation results are verified and analyzed by ANSYS Workbench and ADAMS. It provides a solution for the research of the application system of the Cartesian coordinate moving robot and selects the moving structure according to the working requirements of the Cartesian coordinate moving robot. According to the design parameters, the motion modes of each axis of the robot are designed and selected respectively, and the appropriate drive unit servo motor and reducer are calculated and selected, according to the grasping mode of the workpiece and the motion characteristics of the robot. Finally, the 3D model of Cartesian coordinate moving robot is established according to the dimensions of each component, and the characteristics of the control system of automation equipment are analyzed. The hardware structure of the control system is designed, and the characteristics of each structure unit are analyzed and studied. Finally, the principle of motion control is studied. It is concluded that the best control method in this paper is a full closed loop position control system with speed feedforward, according to the overall function of the robot. The man-machine interface of the robot control system is designed by using the program development software VB. In order to meet the requirements of robot movement, the function of manual interface is improved. Combining the motion function library of the motion control card, the robot motion control program is written and designed. Finally, the robot scheme is verified. The structure and dynamic characteristics of the robot and kinematics simulation can effectively avoid errors and improve working efficiency. Firstly, the finite element analysis of the robot is carried out, and then the motion process of the robot is simulated and analyzed. In order to verify whether the robot can meet the design requirements, the changes of the robot's motion state and parameters and the running of the robot's terminal trajectory are analyzed.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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