冲压上下料机器人的运动学分析与优化设计

发布时间：2018-04-01 02:11

本文选题：自动化　切入点：冲压　出处：《锻压技术》2017年05期

【摘要】：在SolidWorks环境下构建了一种适用于自动化冲压生产线的5自由度串联机器人,并对机器人工作时上下料运动过程进行了详细描述。同时,针对自动上下料运动过程,运用数学模型进行理论分析,采用D-H法建立第2种机器人坐标系,列出运动学参数、关节变量和齐次变换矩阵,最后求解出运动学方程的正逆解,可与后续实际生产中机器人的真实运动情况做对比。应用ANSYS Workbench对底座先进行拓扑优化,在满足刚度和强度要求的情况下,使得底座质量减少了32.6%,优化效果显著。然后再对拓扑优化后的结果进行多目标参数优化,使其在满足要求的前提下,底座所受的等效应力值尽可能减小,优化效果更好。
[Abstract]:In this paper, a 5-DOF series robot suitable for automatic stamping production line is constructed in SolidWorks environment, and the moving process of loading and unloading of the robot is described in detail.At the same time, according to the automatic loading and unloading movement process, the mathematical model is used to carry out theoretical analysis, D-H method is used to establish the second kind of robot coordinate system, and the kinematics parameters, joint variables and homogeneous transformation matrix are listed.Finally, the forward and inverse solutions of the kinematics equation are obtained, which can be compared with the real motion of the robot in subsequent production.Using ANSYS Workbench to optimize the base topologically, the mass of the base is reduced by 32.6and the optimization effect is remarkable under the condition of satisfying the requirement of stiffness and strength.Then the result of topology optimization is optimized by multi-objective parameters, so that the equivalent effect force on the base is minimized as far as possible, and the optimization effect is better.
【作者单位】：陕西科技大学机电工程学院;
【基金】：陕西省科技厅资助项目(2016GY-049)
【分类号】：TP242

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