紧凑型大扭矩机器人关节结构设计及优化

发布时间：2018-04-26 00:26

本文选题：机器人关节 + 有限元分析　；参考：《中国科学院长春光学精密机械与物理研究所》2016年硕士论文

【摘要】：空间在轨服务是目前空间技术发展的一个重点领域,空间在轨服务包括空间交会对接、在轨组装、在轨维修等内容。而空间机械臂以其良好的任务适应性,在空间在轨服务领域获得了极大的应用。本文针对一种空间在轨组装任务,提出了一种利用九自由度机械臂完成任务的方案。并以此任务为导向,设计了一款紧凑型大扭矩模块化的空间机械臂用机械臂关节。首先本文对在轨组装任务进行了分析,根据任务分析初步拟定了九自由度机械臂的相关参数,并由该参数分解得到每个关节的设计指标和功能要求。接着,根据关节的设计参数,通过计算和查阅产品手册,完成了关节零部件的选型工作。在完成关节零部件的选型工作以后,以各零部件的几何尺寸为基础,完成了该紧凑型大扭矩模块化关节的所有结构详细设计工作。之后,根据机械臂在实际工作中的两种典型受力状态,对完成初步设计的关节模型,进行了静力学的有限元分析,找出了关节模型中的薄弱处。分析计算结果表明,初步设计的关节模型中,谐波输出轴存在刚度不足,走线孔存在应力集中现象,用于关节连接的上伸板和下伸板存在刚度不足的问题。然后根据分析的结果对谐波输出轴和关节外壳进行了改进设计。对改进后关节模型的有限元分析结果表明,谐波输出轴最大应力下降了40%,刚度提升了28.8%,关节间连接板的变形量减小了28.9%,以上结果说明改进措施效果显著。最后本文设计了一款输出扭矩为150N·m的摆线针轮行星减速器。为了减小体积,将摆线针轮行星减速器常见的悬臂式针齿改为了卧枕式针齿。然后,根据新的针齿结构,设计了一款摆线针轮减速器。之后,针对摆线针轮行星减速器的几个重要参数和卧枕式针齿的结构特点,推导出了新的摆线针轮行星减速器优化目标函数和边界条件,利用MATLAB的遗传算法工具箱,进行优化,最后使用有限元分析软件对减速器进行分析,以验证其结构强度是否满足要求。
[Abstract]:Space in-orbit service is an important field of space technology development at present. Space on-orbit service includes space rendezvous and docking, on-orbit assembly, on-orbit maintenance and so on. Space manipulator has been widely used in the field of space orbit service due to its good mission adaptability. In this paper, a scheme of using nine degrees of freedom robotic arm to accomplish the task is proposed for a space on-orbit assembly task. Based on this task, a compact large torque modularized space manipulator joint is designed. Firstly, the on-orbit assembly task is analyzed, and the parameters of the nine-degree-of-freedom manipulator are preliminarily worked out according to the task analysis, and the design indexes and functional requirements of each joint are obtained by decomposing the parameters. Then, according to the design parameters of joint, the selection of joint parts is completed by calculating and consulting the product manual. After completing the selection of joint parts, based on the geometric dimensions of each component, the detailed structural design of the compact large torque modular joint is completed. Then, according to the two typical mechanical states of the manipulator in the actual work, the finite element analysis of statics is carried out to find out the weakness of the joint model. The analysis and calculation results show that the stiffness of the harmonic output shaft is insufficient, the stress concentration phenomenon exists in the line hole, and the stiffness of the upper and lower extension plates for joint connection is insufficient in the preliminary design joint model. Then the harmonic output shaft and joint shell are improved according to the analysis results. The finite element analysis results of the improved joint model show that the maximum stress of the harmonic output shaft decreases by 40 percent, the stiffness increases by 28.8and the deformation of the joint joint plate decreases by 28.9. the above results show that the effect of the improved measures is remarkable. Finally, a cycloidal needle wheel planetary reducer with output torque of 150 nm is designed. In order to reduce the volume, the common cantilever pin teeth of cycloidal pin gear planetary reducer are changed to the horizontal pillow type needle teeth. Then, according to the new needle tooth structure, a cycloidal gear reducer is designed. Then, according to several important parameters of cycloidal pin gear planetary reducer and the structural characteristics of the supine pin gear, the optimization objective function and boundary condition of the cycloid pin planetary reducer are derived, and the optimization is carried out by using the genetic algorithm toolbox of MATLAB. Finally, finite element analysis software is used to analyze the reducer to verify whether its structural strength meets the requirements.
【学位授予单位】：中国科学院长春光学精密机械与物理研究所
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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