四轴机器人作业能力评价与研究

发布时间：2018-04-19 14:12

本文选题：串联机器人 + 位姿精度　；参考：《安徽工程大学》2017年硕士论文

【摘要】：六自由度串联机器人结构复杂、成本高,在执行搬运、喷涂、焊接等工业任务过程中,运动功能存在冗余。而四轴机器人能够满足工业环境下大部分作业任务需求,但针对四轴机器人作业能力系统性研究国内外文献还没有报道过。为了客观地揭示四轴机器人作业能力和应用范围,指导工业机器人用户正确选型、规划工业机器人产业发展均具有重要意义。本文针对四轴机器人在作业过程中速度、加速度以及末端执行件的位姿误差问题展开研究,建立了评价指标并对量化处理。以PUMA560机器人及埃夫特ER6-C604机器人为对象,以PUMA560机器人的作业能力为基准评价埃夫特ER6-C604四轴机器人的作业能力。本文主要的研究内容以及研究方法如下:(1)详细分析了串联机器人的运动过程,采用D-H参数法建立串联机器人杆件坐标系,通过齐次变换矩阵建立串联机器人正逆运动学模型。并计算PUMA560机器人及埃夫特ER6-C604机器人正逆解,为后续机器人运动仿真实验提供了理论基础。(2)在正逆运动学模型基础上,利用一阶、二阶影响系数矩阵研究串联机器人的运动,引入速度与加速度评价指标对其进行运动学分析;对由杆件的结构参数误差与运动变量误差引起的串联机器人末端执行件位姿误差进行了分析,建立串联机器人的静态位姿误差模型。并以此定义机器人精度误差评价指标。(3)工业机器人的作业主要有焊接、切割、喷涂等,分析上述作业过程,完成了机器人的轨迹规划。利用MATLAB软件,对PUMA560机器人及埃夫特ER6-C604机器人工业作业轨迹进行了仿真,并对实验结果进行了数据处理。建立了串联机器人评价矩阵,分析两款机器人的作业能力,为企业选取机器人提供参考。(4)基于机器人运动学,建立了体现灵活性指标的数学模型。采用优化搜索模型,求解出服务系数,并以服务系数作为其灵活性的评价指标。主要创新之处是运用对比的手法,分析串联四轴机器人的作业能力,以速度、加速度以及位姿精度三个主要参数建立了评价矩阵并量化,从而为用户选择机器人提供参考。
[Abstract]:The six-degree-of-freedom series robot has complex structure and high cost. During the industrial tasks such as handling, spraying, welding and so on, the motion function is redundant.The four-axis robot can meet most of the task requirements in the industrial environment, but the systematic research on the operation ability of the four-axis robot has not been reported in the literature at home and abroad.In order to objectively reveal the operation ability and application scope of four-axis robot, guide the users of industrial robot to choose correctly, and plan the development of industrial robot industry, it is of great significance.In this paper, the velocity, acceleration and pose error of the terminal actuator of a four-axis robot are studied, the evaluation index is established and the quantization is processed.Taking the PUMA560 robot and the Avatar ER6-C604 robot as the objects, and taking the operation ability of the PUMA560 robot as the benchmark, the paper evaluates the operation ability of the ER6-C604 four-axis robot.The main contents and methods of this paper are as follows: (1) the kinematic process of series robot is analyzed in detail. The coordinate system of serial robot is established by D-H parameter method, and the forward and inverse kinematics model of series robot is established by homogeneous transformation matrix.The forward and inverse solutions of PUMA560 robot and Evette ER6-C604 robot are calculated, which provides a theoretical basis for subsequent robot motion simulation experiments. On the basis of forward and inverse kinematics model, the first and second order influence coefficient matrix is used to study the motion of serial robot.The kinematics analysis is carried out by introducing the velocity and acceleration evaluation indexes, and the position and attitude errors of the end parts of the series robot caused by the structural parameter error and the motion variable error of the rod are analyzed.The static pose error model of serial robot is established.The precision error evaluation index of the robot is defined. (3) the industrial robot mainly includes welding, cutting and spraying. The above operation process is analyzed, and the trajectory planning of the robot is completed.Using MATLAB software, the industrial track of PUMA560 robot and Everett ER6-C604 robot are simulated, and the experimental results are processed.In this paper, the evaluation matrix of series robot is established, and the operation ability of two kinds of robots is analyzed, which provides a reference for enterprises to select robots. (4) based on robot kinematics, a mathematical model reflecting flexibility index is established.An optimized search model is used to solve the service coefficient, and the service coefficient is used as the evaluation index of its flexibility.The main innovation is to analyze the operation ability of the series four-axis robot by means of comparison. The evaluation matrix is established and quantified by the three main parameters of velocity acceleration and pose precision so as to provide a reference for the user to select the robot.
【学位授予单位】：安徽工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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