RSL-600型SCARA机器人机构运动可靠性研究

发布时间：2018-04-03 12:53

本文选题：SCARA机器人　切入点：运动可靠性　出处：《昆明理工大学》2017年硕士论文

【摘要】：工业机器人被广泛地应用于汽车、半导体、印刷电路板、电子产品等领域进行搬运和装配工作,其在提高生产自动化水平,提高劳动生产率和产品质量、经济效益以及改善工人劳动条件等方面,起着重要的作用。机构运动可靠度是衡量各种机械系统运动质量好坏的重要指标之一,它表示机构在规定的使用期内准确、及时和协调地完成规定运动的能力。工业机器人运动的可靠性将会直接影响其运动的稳定性,最终影响其整体的运动精度及使用的可靠性。首先,本文综述了 SCARA机器人国内外研究现状,机构可靠性国内外研究现状以及工业机器人发展趋势。其次,在论述机构运动可靠性理论基础上,分析了机构运动精度可靠性分析方法。然后,对本文研究的RSL-600型SCARA机器人进行了简单介绍,并对其进行了有限元静力学分析,说明SCARA机器人的柔性化处理对后文运动可靠性分析的重要性。接着运用机构运动可靠性分析方法,以动力学仿真软件ADAMS为平台,结合蒙特卡罗仿真原理,利用ADAMS/Insight模块对刚柔一体化机器人机构进行运动可靠性分析,在考虑连杆尺寸误差和综合连杆尺寸误差与运动副间隙误差两种情况下计算出机器人运动可靠度,为提高机器人的运动可靠性连杆应该尽量选择大于IT12的加工精度,同时尽量减少运动副间隙的大小。最后,针对本文研究的一批SCARA机器人样机进行可靠性实验,得到其X、Y、Z三个方向的位移可靠度分别0.9886784、0.9900165、0.9875927,表明研制的 RSL-600 型 SCARA 机器人位移可靠性很高,同时对其进行了仿真试验,验证了本文确定的一种基于ADAMS/Insight模块的SCARA机器人机构运动可靠性分析方法,为其他复杂机构的运动可靠性分析提供了一种有效的途径。在此基础上,利用MATLAB软件的GUI模块,开发出SCARA机器人机构运动可靠度计算程序的人机交互界面,实现机器人机构可靠度的实时计算结果显示。
[Abstract]:Industrial robots are widely used in transportation and assembly of automobiles, semiconductors, printed circuit boards, electronic products, etc., which improve the level of production automation, labor productivity and product quality.Economic benefits and improving workers' working conditions, and so on, play an important role.The reliability of mechanism motion is one of the important indexes to measure the motion quality of various mechanical systems. It indicates the ability of the mechanism to complete the specified motion accurately, timely and harmoniously in the specified life.The reliability of industrial robot movement will directly affect the stability of its motion, and ultimately affect its overall motion accuracy and reliability.Firstly, this paper summarizes the research status of SCARA robot at home and abroad, the research status of mechanism reliability at home and abroad and the development trend of industrial robot.Secondly, based on the theory of mechanism motion reliability, the method of mechanism motion precision reliability analysis is analyzed.Then, the RSL-600 type SCARA robot studied in this paper is briefly introduced, and the finite element statics analysis is carried out to illustrate the importance of the flexible processing of the SCARA robot to the later motion reliability analysis.Then, using the mechanism motion reliability analysis method, taking the dynamics simulation software ADAMS as the platform, combining the Monte Carlo simulation principle, using the ADAMS/Insight module to carry on the motion reliability analysis to the rigid flexible integrative robot mechanism.In this paper, the kinematic reliability of the robot is calculated by considering the dimension error of the connecting rod and the error of the connecting rod size and the clearance error of the kinematic pair. In order to improve the kinematic reliability of the robot, the machining accuracy of the connecting rod should be greater than that of IT12 as far as possible.At the same time, as far as possible to reduce the size of the motion pair clearance.Finally, based on the reliability experiments of a batch of SCARA robot prototypes studied in this paper, the displacement reliability in the three directions of the SCARA robot is obtained, which shows that the displacement reliability of the RSL-600 SCARA robot is very high, and the simulation test is also carried out, which shows that the displacement reliability of the RSL-600 robot is very high in the three directions, 0.988 6784 / 0.9900165 / 0.9875927, respectively.A method of kinematic reliability analysis of SCARA robot mechanism based on ADAMS/Insight module is verified in this paper, which provides an effective way for the analysis of motion reliability of other complex mechanisms.On this basis, using the GUI module of the MATLAB software, the man-machine interaction interface of the SCARA robot mechanism motion reliability calculation program is developed, and the real-time calculation result of the robot mechanism reliability is realized.
【学位授予单位】：昆明理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TH112

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