桁架机器人耦合特性分析与结构优化

发布时间：2018-05-01 15:05

本文选题：桁架机器人 + 耦合特性　；参考：《合肥工业大学》2017年硕士论文

【摘要】：随着“中国制造2025”规划的不断推进,智能制造成为中国制造业转型升级的主攻方向,而工业机器人在产业转型升级过程中起到重要作用,其应用也越来越广泛。桁架式工业机器人作为柔性智能制造生产线的关键组成部分,起到串联自动加工设备、提高生产效率的重要作用。其结构的合理性直接会影响整个生产线的运行及产品质量的稳定,但由于国产工业机器人在设计制造方面与国外仍有较大差距,在设计阶段缺乏深入的理论计算及优化设计分析。所以为提高其工作性能,采用现代先进的分析及设计方法对机器人结构进行分析优化具有十分重要的意义。本文总结了国内外工业机器人发展及相关研究现状,结合桁架机器人本体自身结构特点,以探讨桁架机器人工作过程中的动态响应及结构薄弱环节为目的,进行了理论、仿真分析及实验研究。首先,针对桁架机器人典型工况,建立基于RecurDyn的刚柔耦合动力学模型,分析横梁、滑台等结构的柔性对末端执行器运动轨迹精度的影响。其次,针对桁架机器人末端质量在横梁上水平移动过程中,其整个系统的动态响应随着载荷位置的不断移动而变化,建立桁架机器人耦合时变系统动力学模型,研究移动末端质量以不同初速度及加速度运动的情况下,横梁的动力响应及挠度变化。再次,通过有限元仿真分析与监测实验相结合的方法对桁架机器人的结构及典型工况进行分析,运用Matlab进行加速度信号的频域积分处理,分析了负载及速度对桁架机器人工作性能的影响,并确立了横梁作为结构优化对象并提出了结构的改进建议。最后,制定桁架机器人结构优化方案,进行立柱结构的改进及横梁结构多目标尺寸优化设计,仿真分析表明桁架机器人的动态特性及结构刚度得到一定提升。
[Abstract]:With the development of the "made in China 2025" program, intelligent manufacturing has become the main direction of China's manufacturing industry transformation and upgrading. Industrial robots play an important role in the process of industrial transformation and upgrading, and its application is becoming more and more widespread. As a key part of flexible intelligent manufacturing production line, truss industrial robot plays an important role in series automatic machining equipment and improving production efficiency. The rationality of the structure will directly affect the operation of the whole production line and the stability of the product quality. However, there is still a big gap between the domestic industrial robot and foreign countries in the design and manufacture of the robot. In the design phase, there is a lack of in-depth theoretical calculation and optimization design analysis. It is considered that it is of great significance to improve the performance of the robot and adopt modern advanced analysis and design methods to analyze and optimize the structure of the robot. In this paper, the development of industrial robots at home and abroad and their related research status are summarized. Combined with the structural characteristics of truss robots, the dynamic response and structural weakness in the working process of truss robots are discussed. Simulation analysis and experimental research. Firstly, the rigid-flexible coupling dynamic model based on RecurDyn is established for the typical working conditions of truss robot, and the influence of the flexibility of beam and slide platform on the trajectory accuracy of the end effector is analyzed. Secondly, the dynamic response of the whole system changes with the moving of the load position during the horizontal movement of the mass of the truss robot on the crossbeam, so the dynamic model of the coupled time-varying system of the truss robot is established. The dynamic response and deflection of the beam with different initial velocities and accelerations are studied. Thirdly, the structure and typical working conditions of truss robot are analyzed by the combination of finite element simulation analysis and monitoring experiment, and the frequency domain integral of acceleration signal is processed by Matlab. The influence of load and speed on the performance of truss robot is analyzed, and the cross beam is established as the optimization object of the structure, and some suggestions for improving the structure are put forward. Finally, the optimization scheme of truss robot structure is established to improve the column structure and the multi-objective size optimization design of the crossbeam structure. The simulation results show that the dynamic characteristics and the structural stiffness of the truss robot are improved to a certain extent.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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