棉桶搬运机器人的静力学与动态特性分析

发布时间：2018-03-14 06:02

本文选题：复合机器人　切入点：棉桶搬运　出处：《山东科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着我国工业转型升级、劳动力成本不断攀升以及智能发展的需要,工业领域“机器换人”现象普遍。在棉纺行业,针对劳动力短缺的现状和棉纺车间高温高湿高噪音的状况,一款用于棉桶更换和搬运作业的机器亟待出现。研究资料表明,妥善解决这类技术的原理方法至今尚未报道。本文根据纺织车间棉桶搬运与更换的要求,研发了一种由AGV和四轴棉桶搬运机器人组合作业的特种复合机器人,并对四轴搬运机器人进行了重点分析。主要进行了对机器人本体结构设计与驱动电机选型、静力学分析、动态特性分析、动力学仿真以及系统的实验测试工作。以棉桶搬运机器人为研究对象,对机器人进行了机械本体的结构设计。根据棉纺车间的工作特点,确定所要设计的机器人的结构类型是灵活性较高的四轴关节式机器人,给出了其驱动方式和驱动电机选型设计,建立了机器人各个部分的机械本体结构,运用Solidworks设计了其三维结构模型并对其进行了干涉检查,通过计算确定了机器人所用电机和减速器选型。通过ANSYS Workbench软件对棉桶搬运机器人进行了静力学分析,指出了机器人的薄弱环节所在,并对机器人进行了优化设计,提高了强度和刚度;在静力学分析的基础上,对棉桶搬运机器人的三个典型位姿进行了模态分析,得到了其固有频率和振型,找出了强度相对较低的部分,并提出了通过改进结构、增加厚度或者更换材料来提高结构刚度特性的方案,为后续加工提供了理论参考。利用Adams进行动力学仿真,验证了各关节所受力的大小及所选电机的正确性,为以后进行关键零部件的有限元分析打下基础。为进一步验证本课题设计方案的合理性和可靠性,对机器人进行了系统调试与测试。完成对机器人加工、安装和调试,验证了机器人结构设计及运行轨迹的合理性和可行性;对机器人位置距离准确度进行了测试,指出影响位置距离准确度的主要因素是机器人基坐标系与测量系统坐标系之间的坐标变换,提出可以通过建立机器人的距离误差标定模型的方式来提高距离准确度。本课题在查阅大量中外密切相关技术文献的基础上,首次提出了一种由AGV与四轴搬运机器人组合作业的复合机器人的设计方案。通过对比选择、计算分析,确定了搬运机器人的机械本体结构;通过三维建模和静力学分析,对搬运机器人的结构进行了优化;通过对搬运机器人进行模态分析和动力学仿真,明确了影响机构动态特性关键模态所在的结构,验证了各关节受力大小及电机选型的正确性;通过对机器人的系统调试与试验测试,验证了本文设计方案的正确性,为改善棉纺车间的工作环境,减轻工人的劳动强度提供了有力依据,对于解决“用工荒”现象意义重大。
[Abstract]:With the industrial transformation and upgrading of our country, the rising labor cost and the need of intelligent development, the phenomenon of "machine replacement" is common in the industrial field. In the cotton textile industry, in view of the current situation of labor shortage and the situation of high temperature, high humidity and high noise in the cotton spinning workshop, A machine for the replacement and handling of cotton barrels is urgently needed. The research data show that the principle and method of properly solving this kind of technology have not been reported. According to the requirements of cotton barrel handling and replacement in textile workshop, In this paper, a special compound robot, which is composed of AGV and four-axis cotton bucket handling robot, is developed, and the emphasis is put on the analysis of the four-axis moving robot. The structure design of the robot and the selection of driving motor are mainly carried out, and the statics analysis is carried out. Dynamic characteristic analysis, dynamic simulation and experimental test of the system. Taking the cotton bucket handling robot as the research object, the structure design of the robot's mechanical body is carried out. According to the working characteristics of the cotton spinning workshop, the structure of the robot is designed. It is determined that the structure type of the robot to be designed is a four-axis joint robot with high flexibility. The driving mode and the type selection design of the driving motor are given, and the mechanical body structure of each part of the robot is established. The three-dimensional structure model is designed by using Solidworks, and the interference inspection is carried out. The selection of motor and reducer used in the robot is determined by calculation. The statics analysis of the cotton bucket handling robot is carried out by ANSYS Workbench software. The weak link of the robot is pointed out, and the optimum design of the robot is carried out to improve the strength and stiffness. On the basis of static analysis, the modal analysis of three typical positions and poses of the cotton bucket handling robot is carried out. The natural frequency and mode shape are obtained, and the relatively low strength part is found, and the scheme of improving the structure, increasing the thickness or changing the material to improve the stiffness characteristic of the structure is put forward. A theoretical reference is provided for the subsequent machining. The dynamic simulation with Adams is carried out to verify the force size of each joint and the correctness of the selected motor. In order to further verify the rationality and reliability of the design scheme, the robot is debugged and tested systematically. The robot is processed, installed and debugged. The rationality and feasibility of robot structure design and running trajectory are verified, and the accuracy of robot position distance is tested. It is pointed out that the main factor affecting the accuracy of position distance is the coordinate transformation between the robot base coordinate system and the measurement system coordinate system. It is proposed that the distance accuracy can be improved by establishing the distance error calibration model of the robot. For the first time, this paper presents a design scheme of composite robot, which is composed of AGV and four-axis moving robot. By comparing and selecting, calculating and analyzing, the mechanical body structure of the moving robot is determined, and the three-dimensional modeling and statics analysis are carried out. The structure of the moving robot is optimized, and the structure of the key modes affecting the dynamic characteristics of the mechanism is clarified by modal analysis and dynamic simulation of the moving robot, which verifies the correctness of the force size of the joints and the selection of the motor. Through the system debugging and testing of the robot, the correctness of the design scheme is verified, which provides a powerful basis for improving the working environment of the cotton spinning workshop and reducing the labor intensity of the workers. It is of great significance to solve the phenomenon of "labor shortage".
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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