可视卸砖机器人的设计仿真和应用研究

发布时间：2018-03-08 04:29

本文选题：可视卸砖机器人　切入点：运动学　出处：《南昌大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着砖瓦行业的不断发展,卸砖环节无法实现自动化成为制约砖瓦行业生产效率的主要原因,目前大多数砖厂均采用人工卸砖的生产方式,工人劳动强度大,企业用人成本高,并且生产效率很低。在这种背景下,本课题设计了一种可视卸砖机器人来解决卸砖环节无法实现自动化这一问题,并根据可视卸砖机器人的卸砖环节提出了自动卸砖装砖生产线的整体设计方案。为使可视卸砖机器人具备良好的动态特性,本文从运动学、动力学及静力学三个方面对可视卸砖机器人进行分析。主要研究内容如下:1.采用D-H方法建立可视卸砖机器人的运动学数学模型,并对其进行正、逆运动学分析和雅克比矩阵的求解。根据机器人的D-H参数及作业要求,利用Matlab软件完成了对卸砖机器人作业空间的仿真。2.在建立的运动学数学模型基础上,采用牛顿-欧拉法对卸砖机器人进行了动力学分析,同时利用Adams软件对卸砖机器人进行运动学和动力学仿真,运动学仿真结果验证了采用B样条函数进行关节空间轨迹规划的可行性,动力学仿真结果为各关节电机及减速器的型号预选择提供了依据。3.采用Ansys软件对可视卸砖机器人关键零部件和本体进行静态分析和模态分析,得到了机器人关键零部件和本体的应力、位移分布云图及卸砖机器人在两种作业位姿下的固有频率,根据分析结果对卸砖机器人关键零部件的结构及大、小臂的壁厚进行了优化。优化后的卸砖机器人系统刚度和强度得到了很大改善,同时卸砖机器人的静态分析和模态分析结果显示了机器人系统的薄弱环节和需要避免的驱动频率,为卸砖机器人机构的进一步分析和优化提供了理论依据和支持。4.提出了自动卸砖装砖生产线的整体设计方案,根据生产线的设计要求及可靠性要求,将生产线进行模块化处理,并针对卸砖模块、装车模块及打包整理模块分别提出了详细的设计方案,为砖瓦行业生产线的设计与改进提供了参考,同时开发了简化版的基于RAPID语言的卸砖机器人控制软件,降低了对操作者技术水平的要求。
[Abstract]:With the continuous development of brick and tile industry, the failure to automate the unloading of brick becomes the main reason that restricts the production efficiency of brick and tile industry. At present, most brick factories adopt the mode of production of manual unloading brick, the labor intensity of workers is high, and the cost of employing people in enterprises is high. And the production efficiency is very low. Under this background, this paper designs a visual brick unloading robot to solve the problem that the unloading link can not be automated. According to the brick unloading link of the visual brick unloading robot, the whole design scheme of the automatic brick unloading and loading production line is put forward. In order to make the visual brick unloading robot have good dynamic characteristics, the kinematics of the robot is introduced in this paper. The main contents of this paper are as follows: 1. The kinematics mathematical model of visual brick unloading robot is established by using D-H method, and the kinematics model of visual brick unloading robot is positive. Inverse kinematics analysis and the solution of Jacobian matrix. According to the D-H parameters and operation requirements of the robot, the simulation of the operation space of the brick unloading robot is completed by using Matlab software. 2. On the basis of the established kinematics mathematical model, Newton-Euler method is used to analyze the dynamics of the brick unloading robot, and the kinematics and dynamics simulation of the brick unloading robot is carried out by using Adams software. The kinematics simulation results verify the feasibility of using B-spline function in joint space trajectory planning. The dynamic simulation results provide the basis for the pre-selection of each joint motor and reducer. Using Ansys software, the static analysis and modal analysis of the key parts and body of the visual brick unloading robot are carried out. The stress and displacement distribution of the key parts and body of the robot and the natural frequency of the brick unloading robot in two kinds of working positions are obtained. The structure and size of the key parts of the brick unloading robot are analyzed according to the analysis results. The wall thickness of the lower arm is optimized. The stiffness and strength of the optimized brick unloading robot system are greatly improved. At the same time, the static analysis and modal analysis of the brick unloading robot show the weak link of the robot system and the driving frequency that needs to be avoided. It provides the theoretical basis and support for the further analysis and optimization of the brick unloading robot mechanism. 4. The overall design scheme of the automatic brick unloading and loading production line is put forward. According to the design requirements and reliability requirements of the production line, the production line is treated by modularization. The detailed design schemes of brick unloading module, loading module and packing and finishing module are put forward respectively, which provides a reference for the design and improvement of brick and tile production line. At the same time, the control software of brick unloading robot based on RAPID language is developed. Reduced requirements for the operator's technical level.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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