滚丝机上下料机械手的设计、轨迹规划及控制研究

发布时间：2018-04-09 11:50

本文选题：上下料机械手　切入点：运动学方程　出处：《青岛大学》2017年硕士论文

【摘要】：伴随着工业4.0时代的发展,各国制造业自动化和智能化水平得到了极大的提高,这与工业机器人的设计和使用息息相关。然而,目前国内中小企业无力购买大量工业机器人,尤其滚丝工艺的上下料任务仍由人工完成,存在效率低下、安全系数低以及自动化水平低的问题。在这一研究背景下,本文在了解了国内外滚丝机及上下料机械手的最新发展情况的基础上,通过掌握滚丝机的各项技术参数和轨迹要求,在考虑成本的前提下,设计出经济、适用的机械手系统,并对其进行理论研究和仿真分析。首先,本文介绍了上下料机械手的研究背景、意义和国内外研究现状,根据滚丝机实际的工艺要求,在Solidworks中对上下料机械手主要零部件的结构、驱动系统和传动系统进行了设计,包括所用步进电机和减速器的选型,完成了上下料机械手机械系统部分的设计,为下文运动学和动力学仿真提供了一定的基础。然后,通过机器人的三维模型建立其D-H坐标系,运用代数法计算机器人的正、逆向运动学方程,在MATLAB中运用SimMechanics工具箱对其进行虚拟杆件建模,通过仿真计算得到机器人的工作空间,从而有利于机器人位置的合理布置。运用MATLAB中的Robotics Toolbox工具箱对其进行正、逆向运动学仿真,验证了运用代数法求得运动学方程的正确性。选取一段路径对其进行关节空间轨迹规划,为下文整条路径的轨迹规划提供了参考意义。再次,根据机械手与滚丝机的空间布局求出了机械手上下料轨迹中一些关键点的坐标,通过MATLAB求出其逆解,运用3次B样条曲线对各关节角度进行插值,得到的角度与时间的曲线作为ADAMS动力学仿真中的驱动函数,通过动力学仿真得到机械手末端的轨迹曲线、运动学和动力学参数。其中,运动学参数表明机械手能满足滚丝机的上下料要求;动力学参数表明机械手能平稳运行以及各关节电机选型合理。最后,通过绘制机械手详细的动作流程图来确定机械手控制系统的I/O数,在此基础上对其进行地址分配及PLC选型,运用STEP 7-Micro/WIN软件对其进行编程,给出了主程序和部分自动运行程序的梯形图,实现了上下料机械手的托盘规格的柔性化,从而为后续物理样机的实现提供一定的控制基础。总体来说,本文通过对机器人学的理论研究,设计出一种由电气驱动的4自由度机械手。通过对其进行仿真分析和软件编程,表明该机械手能顺利地完成滚丝工艺的上下料任务,为后续物理样机的制造提供了宝贵的基础。
[Abstract]:With the development of industry 4.0 era, the level of automation and intelligence of manufacturing industry in various countries has been greatly improved, which is closely related to the design and use of industrial robots.However, domestic small and medium-sized enterprises are unable to buy a large number of industrial robots at present, especially the feeding and unloading task of wire rolling process is still completed manually, which has the problems of low efficiency, low safety factor and low level of automation.In this research background, this paper, on the basis of understanding the latest development of wire rolling machine and upper and lower manipulator at home and abroad, by mastering the technical parameters and trajectory requirements of the wire-rolling machine, and considering the cost, designs the economy.The applicable manipulator system is studied theoretically and simulated.First of all, this paper introduces the research background, significance and research status at home and abroad of the upper and lower manipulator. According to the actual technological requirements of the rolling machine, the structure of the main parts and components of the loading and unloading manipulator in Solidworks is introduced.The drive system and transmission system are designed, including the selection of stepping motor and reducer, and the design of the mechanical system of the upper and lower manipulator is completed, which provides a certain basis for the kinematics and dynamics simulation below.Then, the D-H coordinate system is established through the three-dimensional model of the robot, the forward and reverse kinematics equations of the robot are calculated by algebraic method, and the virtual bar is modeled by using the SimMechanics toolbox in MATLAB.The workspace of the robot is obtained by simulation, which is beneficial to the reasonable arrangement of the robot position.The forward and reverse kinematics simulation is carried out by using Robotics Toolbox toolbox in MATLAB, and the correctness of solving kinematics equation by algebraic method is verified.The joint space trajectory planning is carried out by selecting a section of path, which provides a reference for the trajectory planning of the whole path below.Thirdly, according to the space layout of manipulator and wire-rolling machine, the coordinates of some key points in the upper and lower trajectory of manipulator are obtained, the inverse solution is obtained by MATLAB, and the angle of each joint is interpolated by using 3-degree B-spline curve.The curve of angle and time is used as the driving function of ADAMS dynamics simulation, and the trajectory curve, kinematics and dynamic parameters of manipulator end are obtained by dynamic simulation.The kinematics parameters show that the manipulator can meet the requirements of feeding and unloading, and the dynamic parameters show that the manipulator can run smoothly and the motor selection of each joint is reasonable.Finally, the I / O number of manipulator control system is determined by drawing the detailed action flow chart of manipulator. On this basis, address assignment and PLC selection are carried out, and STEP 7-Micro/WIN software is used to program it.The trapezoidal diagram of the main program and part of the automatic running program is given, and the flexibility of the tray specification of the upper and lower manipulator is realized, which provides a certain control basis for the realization of the subsequent physical prototype.In general, through the theoretical research of robotics, a 4 DOF manipulator driven by electricity is designed in this paper.Through the simulation analysis and software programming, it is shown that the manipulator can successfully finish the loading and unloading task of the wire rolling process, which provides a valuable foundation for the subsequent manufacture of the physical prototype.
【学位授予单位】：青岛大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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