ROV水下作业培训系统七功能机械手臂的设计与仿真

发布时间：2018-03-13 12:05

本文选题：ROV模拟器　切入点：7功能机械手臂　出处：《天津理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：目前ROV(水下机器人)在海洋研究与开发中的应用愈来愈广泛。但是因海洋环境复杂,导致操作ROV作业难度极高,对ROV操控人员的培训也非常困难。本研究中所涉及的“ROV水下作业培训系统”使得在陆地上对作业人员进行岗位培训成为可能。作业人员通过“ROV水下作业培训系统”,认识和感知ROV水下操作的要求和作业流程,学习操作规程;最终提高作业效率和作业安全性。7功能机械手是“ROV水下作业培训系统”的重要组成部分,作业人员通过对ROV模拟培训系统机械手的操作,完成ROV机械手的操作培训,预演ROV机械手在海底作业的操作。本研究围绕“ROV水下作业培训系统”中七功能机械手(6R+1,串联机器人,1为手爪开合自由度)的设计展开研究。应用Auto-cad、Solidworks等机械设计软件完成了,七功能机械手臂,机械结构,传动方式的设计。通过Ansys有限元分析软件的拓扑优化完成了对机械手臂,主要部件的轻量化设计;并利用有限元软件校核了7功能机械手臂关键零件的刚、强度,验证了设计的合理性。完成了相关电机的选型设计计算。应用D-H方法建立了机械手臂连杆坐标系,得到机械手臂末端执行器相对于固定基座的转换矩阵,求得6自由度机械手臂的运动学正解;通过数值迭代法进行了机械手臂运动学机械手臂运动学逆解的求解。采用Matlab对关节机器人工作空间进行了仿真,运用Matlab机器人工具箱,建立了机械手臂的仿真模型,求得机器人运动学正解以及逆解。分析、验证了机械手臂运动学方程,判断了运动学方程的正确性。结合本文中所推导的机械手臂运动学方程,采用基于蒙特卡洛法的七功能机械手臂工作空间求取方法,结合Matlab软件仿真,求得7功能机械手臂的工作空间。
[Abstract]:At present, ROV (underwater vehicle) is more and more widely used in marine research and development. However, because of the complexity of marine environment, it is very difficult to operate ROV. It is also very difficult to train ROV operators. The "ROV underwater Operation training system" mentioned in this study makes it possible to train operators on land. Operators use the "ROV underwater Operation training system". "to understand and perceive the requirements and processes of ROV underwater operations, Learning the operation rules; finally improving the work efficiency and work safety .7 functional manipulator is an important part of the "ROV underwater training system", the operator through the ROV simulation training system manipulator operation, Complete ROV manipulator operation training, This study focuses on the design of a seven-function manipulator in "ROV underwater training system" (6R1, with the series robot "1" as the opening and closing degrees of freedom of the hand). The software of mechanical design such as Auto-cadSolidworks is used to complete the research. Seven function mechanical arm, mechanical structure, transmission mode design. Through the Ansys finite element analysis software topology optimization to complete the mechanical arm, the main component lightweight design; The stiffness and strength of the key components of the 7 function mechanical arm are checked by using the finite element software, and the rationality of the design is verified. The selection design calculation of the related motor is completed, and the coordinate system of the connecting rod of the mechanical arm is established by using the D-H method. The conversion matrix of the end actuator of the manipulator relative to the fixed base is obtained and the kinematic positive solution of the 6-DOF manipulator is obtained. The inverse kinematics solution of manipulator kinematics is solved by numerical iterative method. The workspace of joint robot is simulated by Matlab, and the simulation model of robot arm is established by using Matlab robot toolbox. The forward and inverse kinematics solutions of the robot are obtained. The kinematics equation of the manipulator is verified and the kinematics equation is judged by analyzing the kinematics equation of the robot. Based on Monte Carlo method, the workspace of seven function mechanical arm is obtained by combining with Matlab software simulation.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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