小型五自由度串联机器人的结构设计及运动学分析

发布时间：2018-05-05 19:27

本文选题：串联机器人 + 运动学　；参考：《天津科技大学》2017年硕士论文

【摘要】：串联机器人作为机电一体化大背景下的优秀产品,近些年其与机器视觉以及计算机等先进领域紧密结合,使得串联机器人的工作能力不断提升,对于各行各业不同的工作业务需求,串联机器人及其衍生机器人都可以完美胜任。本文主要工作为开发一台以教学为主要用途的小型五自由度串联机器人,以帮助本科学生研究学习工业机器人的工作原理和工作过程。本文将主要探讨小型五自由度机器人的结构设计,通过学习各种机器人课程和参考已经发表论文的已有类似研究,确定机器人的整体结构参数,通过使用三维建模软件建立三维模型,运用仿真和分析软件进行相关运动学和动力学的分析和仿真,最后确定最终的方案设计,选购耗材组装初代机。首先参考市场上同类型产品的构型和技术参数,结合课题要求确定机器人的技术参数和机构构型,根据机器人机构构型选择并设计合适的传动系统,结合机器人的技术参数确定机器人的电机和减速器型号,运用三维建模软件建立机器人的整体三维模型。运用D-H参数法建立了小型五自由度串联机器人的连杆坐标系和连杆参数,列出了各个关节的齐次变换矩阵,对机器人进行了正运动学分析,推导出了机器人末端执行器相对于基座标系的位姿矩阵,对机器人进行了逆运动学分析,求出了机器人各个关节角的表达式,列出了机器人的雅克比矩阵,最后运用Matlab软件对机器人的运动空间进行了仿真。通过拉格朗日法对小型五自由度串联机器人进行动力学分析,推导出来机器人前三个关节的动力学方程,并通过Matlab软件求解出了机器人前三个关节的最大力矩,验证电机和减速器选型是否符合要求,运用Workbench软件对机器人模型进行了模态分析,得到了分析云图,得到了机器人结构的振动特性,避免机器人结构设计可能产生的共振损害。对机器人极限位置进行静力学分析,得到机器人在极限位置时的应力和应变云图,对机器人的关键部件进行静力学分析,得到应力和应变云图,通过对机器人的应力和应变云图的分析,确定机器人的强度和刚度是否符合要求。购买材料和零件,依照设计搭建了第一代小型五自由度串联机器人。
[Abstract]:As an excellent product in the background of mechatronics, series robot is closely combined with advanced fields such as machine vision and computer in recent years, which makes the working ability of series robot improve continuously. The series robot and its derivative robot can be perfect for the different business requirements of various industries. The main work of this paper is to develop a small series robot with five degrees of freedom, which is mainly used in teaching, in order to help undergraduate students study the working principle and working process of industrial robot. This paper will mainly discuss the structural design of a small five-degree-of-freedom robot, and determine the overall structural parameters of the robot by studying various robot courses and referring to similar studies that have been published. By using 3D modeling software to establish 3D model, and using simulation and analysis software to analyze and simulate related kinematics and dynamics, the final scheme design is determined, and the primary generation machine is selected and purchased. First of all, referring to the configuration and technical parameters of the same type of products in the market, combining with the requirements of the project to determine the technical parameters and the mechanism configuration of the robot, select and design the appropriate transmission system according to the configuration of the robot mechanism. Combined with the technical parameters of the robot, the model of the motor and reducer of the robot is determined, and the whole 3D model of the robot is established by using the 3D modeling software. By using D-H parameter method, the connecting rod coordinate system and connecting rod parameters of a small five-degree-of-freedom series robot are established, the homogeneous transformation matrix of each joint is listed, and the positive kinematics of the robot is analyzed. The pose matrix of the robot end effector relative to the base system is derived, the inverse kinematics analysis of the robot is carried out, the expressions of each joint angle of the robot are obtained, and the Jacobian matrix of the robot is listed. Finally, the motion space of the robot is simulated with Matlab software. The dynamic equations of the first three joints of a small five-degree-of-freedom series robot are derived by Lagrangian method, and the maximum torque of the first three joints of the robot is solved by Matlab software. To verify whether the selection of motor and reducer meets the requirements, the modal analysis of the robot model is carried out by using Workbench software, and the analysis cloud diagram is obtained, and the vibration characteristics of the robot structure are obtained to avoid the possible resonance damage caused by the design of the robot structure. The stress and strain cloud diagram of the robot at the limit position is obtained by statics analysis of the robot's limit position, and the stress and strain cloud diagram is obtained by statics analysis of the key parts of the robot. Through the analysis of the stress and strain cloud diagram of the robot, it is determined whether the strength and stiffness of the robot meet the requirements. The first generation of 5 DOF series robot is built according to the design of materials and parts.
【学位授予单位】：天津科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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