圆管相贯线等离子切割机器人系统研究与设计

发布时间：2018-03-16 09:42

本文选题：机器人建模　切入点：工具坐标系标定　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：近年来,国内人口红利逐渐消失、用工荒蔓延。国际上,各主要发达国家大力支持本国机器人产业发展,争抢先进机器人技术高地,努力提高本土制造业智能化、自动化水平。从圆管相贯线切割行业来看,国内大部分企业采用半自动化方式,先使用电脑设计相贯线轨迹再按1:1比例打印,最后蒙皮切割,该方法劳动强度大、生产率低。少部分企业采用专机切割的方式,设备占地较大且通用性较差。通用工业机器人市场长期被国外机器人厂家垄断,切割、焊接等专用功能模块需花额外费用购买。在此背景下,为提高我国圆管相贯线切割加工生产率,节约企业各项成本,缩短国内机器人技术与国外先进机器人技术间的差距,本文在对国内外工业机器人研究现状和发展趋势进行详细分析的基础上,研究设计了一款圆管相贯线等离子切割机器人系统。本机器人系统使用通用6自由度工业机器人与单轴变位机配合,软件系统基于德国Kithara公司的Windows实时拓展软件KitharaRealTime Suite开发,使用EtherCAT通信协议,通信周期为1ms。用户只需输入7个关键参数,4个示教点即可完成切割操作,自动化、智能化水平高。本文首先使用坐标变换方法建立了 6自由度机器人的数学模型,建立了机器人基坐标系与机器人连杆末端坐标系之间的联系,使用X、Y、Z坐标值以及Z-Y-X欧拉角表示机器人连杆末端坐标系在机器人基坐标系下的位置和姿态,分析了机器人运动学正解、逆解算法。然后使用几何法分析介绍了机器人工具坐标系固定基准点标定法的理论依据和6点标定法的标定过程,并提出一个误差参数来评判标定结果。然后建立了圆管相贯线数学模型,重点研究了相贯线主管、支管切割算法,将主管、支管空间相贯线轨迹分解成轴向运动和圆周转动,分别由6自由度机器人与变位机完成。并使用二分法、直线加减速算法计算、规划了相贯线运动。最后在实验中验证了本系统的实用性,相贯线主管、支管配合质量满足后续焊接要求,且示教、切割单管时间可控制在1分钟之内完成,大大提高了劳动生产率。
[Abstract]:In recent years, the domestic population dividend has gradually disappeared, and the labor shortage has spread. Internationally, major developed countries have vigorously supported the development of their own robotics industry, fought for the advanced robotics technology highlands, and worked hard to improve the intelligence of the local manufacturing industry. Automation level. From the point of view of the circular pipe intersecting wire cutting industry, most domestic enterprises adopt a semi-automatic way, first using computer to design intersecting lines and then printing according to the scale of 1: 1. Finally, the skin is cut. This method has a high labor intensity. Low productivity. A few enterprises adopt the way of special machine cutting, the equipment covers a large area and the generality is poor. The general industrial robot market has been monopolized by foreign robot manufacturers for a long time. Special functional modules such as welding need to be purchased at extra cost. Under this background, in order to improve the productivity of intersecting wire cutting of circular pipes in China, to save the cost of enterprises, and to shorten the gap between domestic robot technology and foreign advanced robot technology, Based on the detailed analysis of the present situation and development trend of industrial robots at home and abroad, A circular intersecting line plasma cutting robot system is designed in this paper. The robot system is based on the Windows real-time extension software KitharaRealTime Suite developed by Kithara Company of Germany, which uses a general purpose 6 DOF industrial robot and a single axis positioner. Using EtherCAT communication protocol, the communication period is 1ms. the user only needs to input 7 key parameters, 4 teaching points can complete the cutting operation, automation, In this paper, the mathematical model of a 6-DOF robot is established by using coordinate transformation method, and the relationship between the basic coordinate system of the robot and the coordinate system at the end of the connecting rod of the robot is established. The position and attitude of the end coordinate system of the robot connecting rod in the base coordinate system of the robot are expressed by using the value of the X _ Y _ (Y) Z coordinate and the Euler angle of the Z-Y-X, and the forward kinematics solution of the robot is analyzed. Then the theoretical basis of the fixed reference point calibration method in the tool coordinate system of robot and the calibration process of the 6-point calibration method are analyzed using geometric method. An error parameter is proposed to judge the calibration results. Then the mathematical model of the intersecting line of the circular tube is established, and the algorithm of intersecting line supervisor and branch cutting is studied. The intersecting line locus in the supervisor and branch space is decomposed into axial motion and circumferential rotation. The motion of intersecting line is calculated by using dichotomy and linear acceleration and deceleration algorithm. Finally, the practicability of the system is verified in the experiment. The quality of branch pipe fit meets the requirements of subsequent welding, and teaching, the cutting time of single pipe can be controlled within 1 minute, which greatly improves the labor productivity.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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