新型混合驱动式码垛机器人机构设计与性能研究

发布时间：2018-03-06 05:24

本文选题：码垛机器人　切入点：可控机构　出处：《广西大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,随着社会经济的飞速发展,传统的码垛技术已经越来越难以适应现今码垛大型化,灵活化的需要,因此码垛机器人技术得到了广大学者的重点关注与研究。传统串联式机器人的各个电机都在关节处,所以具有转动惯量大、误差累计大等固有缺陷,容易导致振动等问题。而多自由度可控机构可以将电机安装在机架上,通过合理地控制多个驱动部件的联动很容易实现机构末端运动的柔性输出。而电动推缸具有传动效率高,控制精度高,承载能力大,工作环境要求低,输出力较大等优点。故在本文所研究码垛机器人采用可控机构和混合驱动较大提高了机构的运动学和动力学性能,可以更好地适应码垛作业的工作要求。本文在现有码垛机器人的基础上,设计了新型混合驱动可控机构式码垛机器人,并对其性能进行分析,具体工作如下:(1)利用拓扑图论法对码垛机器人机构进行型综合分析,用最科学的方法确定了码垛机器人最合理的构型并对其进行具体方案设计。(2)由于运动学分析是分析机器人各项性能的基础,故本文首先采用闭环矢量法建立了该新型混合驱动式码垛机器人的运动学模型,然后利用Newton-Raphson数值法求解出小臂的位移矢量、速度矢量、加速度矢量的正逆解,并通过相关数值算例验证了其理论分析的正确性;(3)基于机构拆分法,将该新型混合驱动式码垛机器人的整体惯性力系拆分为各个杆件的静力系,并通过闭环矢量法逐一求解,从而得出各个杆件在任意工作状态的受力情况;(4)根据该新型混合驱动式码垛机器人的结构特点和工作性质,首先模拟出混合驱动式码垛机器人的工作循环过程,建立了虚拟样机模型,然后在Adams软件中对机器人的虚拟样机模型进行连接定义,并对其进行不同负载情况下的运动学正逆解仿真和静态动力学的仿真,为今后机构的进一步设计和驱动部件的选型设计提供了一定程度上的参考;(5)在上述分析的基础上,利用Ansys workbench对码垛机器人虚拟样机模型进行有限元分析,得到其负载情况下的应力和总变形情况,校核了码垛机器人强度,并为其尺度综合和杆件优化提供了一定参考。最后仿真出其振型和前六阶固有频率,为后续减振降噪工作提供了一定程度上的参考。
[Abstract]:In recent years, with the rapid development of social economy, the traditional palletizing technology has become more and more difficult to adapt to the needs of large and flexible palletizing. Therefore, the technology of palletizing robot has been paid more attention to and studied by many scholars. Because the motors of the traditional series robot are at the joints, they have the inherent defects of large moment of inertia, large accumulative error, and so on. The multi-degree-of-freedom controllable mechanism can install the motor on the rack, and it is easy to realize the flexible output of the end motion of the mechanism by reasonably controlling the linkage of several driving parts. The electric push cylinder has high transmission efficiency. The control accuracy is high, the load capacity is large, the working environment is low, and the output force is large. Therefore, the kinematics and dynamics performance of the palletizing robot studied in this paper is greatly improved by using controllable mechanism and hybrid drive. Based on the existing palletizing robot, a new hybrid driven controllable mechanism palletizing robot is designed, and its performance is analyzed. The specific work is as follows: 1) Comprehensive analysis of the type of palletizing robot mechanism is carried out by using topological graph theory. The most reasonable configuration of the palletizing robot is determined by the most scientific method and the concrete scheme is designed. (2) because the kinematics analysis is the basis of analyzing the robot's performance, In this paper, the kinematics model of the new hybrid driven palletizing robot is established by using closed loop vector method, and then the forward and inverse solutions of displacement vector, velocity vector and acceleration vector of the forearm are solved by Newton-Raphson numerical method. The correctness of the theoretical analysis is verified by a numerical example. Based on the mechanism split method, the whole inertial force system of the new hybrid driven palletizing robot is divided into the static system of each member, and solved one by one by the closed loop vector method. According to the structural characteristics and working properties of the new hybrid driven palletizing robot, the working cycle process of the hybrid driven palletizing robot is first simulated. The virtual prototype model is established, and then the virtual prototype model of the robot is defined in Adams software, and the kinematics forward and inverse solution simulation and static dynamics simulation are carried out on the virtual prototype model under different loads. This paper provides a certain degree of reference for the further design of the mechanism and the selection design of the driving parts. On the basis of the above analysis, the virtual prototype model of the palletizing robot is analyzed by using Ansys workbench. The stress and total deformation under load are obtained, the strength of the palletizing robot is checked, and a certain reference is provided for its scale synthesis and bar optimization. Finally, the vibration mode and the first six natural frequencies are simulated. It provides a certain degree of reference for the subsequent work of vibration and noise reduction.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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