双臂工业机器人结构设计与运动分析

发布时间：2018-05-05 04:18

本文选题：双臂工业机器人 + 结构设计　；参考：《合肥工业大学》2017年硕士论文

【摘要】：双臂工业机器人作为智能装备自动化程度很高的拟人化操作机,在制造业和生活服务领域具有良好的应用前景,同时在推动机器人产业成为新兴科技产业的进程中起着至关重要的作用。双臂工业机器人相比于单臂机器人在灵活性、适应环境能力、以及工作空间利用率等方面具有较大优势,为了实现这些优势对双臂工业机器人进行理论应用研究有着重要的意义。本文根据双臂机器人作业任务特点,设计了双臂机器人结构,并对其进行了运动分析。首先,根据作业任务特点以及工作参数对双臂工业机器人的结构进行了设计并对各关节驱动系统进行选型;采用了有限元分析软件ANSYS Workbench对机器人大小臂进行了静力分析和模态分析,验证了设计的合理性。其次,根据D-H法建立了双臂工业机器人正、逆运动学方程,并基于Matlab Robotics Toolbox工具箱对运动学方程进行了仿真分析,求出了机器人工作空间。然后,采用关节空间五次多项式插值法在Matlab Robotic Toolbox工具箱中编制程序完成了对双臂工业机器人的轨迹规划及仿真。此外,运用ADAMS软件对双臂工业机器人进行参数化建模并对大小臂关节和末端执行装置进行了动力学分析。最后,根据作业任务特点研究了双臂协调运动过程中的约束关系并建立了运动学方程,针对两种典型装配任务中遇到的计算量大、难以保证末端位姿、时间和速度约束关系等问题提出了可行的解决方案。
[Abstract]:As a humanoid manipulator with high degree of automation in intelligent equipment, dual-arm industrial robot has a good application prospect in the field of manufacturing and life service. At the same time, it plays an important role in promoting the robot industry to become a new technology industry. Compared with single-arm robot, dual-arm industrial robot has great advantages in flexibility, adaptability to environment, and utilization rate of workspace, etc. In order to realize these advantages, it is of great significance to study the theoretical application of dual-arm industrial robot. According to the task characteristics of dual-arm robot, the structure of dual-arm robot is designed and its motion is analyzed. Firstly, the structure of the dual-arm industrial robot is designed according to the characteristics of the task and the working parameters, and the joint drive system is selected. The finite element analysis software ANSYS Workbench is applied to the static analysis and modal analysis of the robot's forearm, which verifies the rationality of the design. Secondly, according to D-H method, the forward and inverse kinematics equations of dual-arm industrial robot are established, and the kinematics equations are simulated and analyzed based on Matlab Robotics Toolbox toolbox, and the robot workspace is obtained. Then, the joint space quintic interpolation method is used to program the trajectory planning and simulation of the dual-arm industrial robot in the Matlab Robotic Toolbox toolbox. In addition, the parameterized modeling of dual-arm industrial robot is carried out by using ADAMS software, and the dynamic analysis of the joint of the upper and lower arm and the end executing device is carried out. Finally, according to the characteristics of task, the constraint relation in the process of two-arm coordinated motion is studied, and the kinematics equation is established. In view of the large amount of calculation in two typical assembly tasks, it is difficult to guarantee the terminal position and pose. A feasible solution to the problem of time and speed constraints is proposed.
【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

【相似文献】