棉桶更换机器人的轨迹优化及结构拓扑优化设计

发布时间：2018-05-13 01:17

本文选题：棉桶更换机器人 + 结构设计　；参考：《山东科技大学》2017年硕士论文

【摘要】：面对人口红利的逐渐削弱及市场发展的需求,近年来工业机器人在家电、物流等行业中表现活跃,促进了各行业的发展。面对棉纺行业劳动力季节性紧缺以及高温、高湿、高噪声的车间作业环境,研发一种取代工人完成棉桶更换与搬运作业的特种机器人可提高行业的自动化程度,加快行业结构升级。文献资料研究表明,用于解决棉桶自动更换搬运作业的技术原理方法未见报道。为改变该现状,设计研发了一种由AGV小车和棉桶更换机器人组合而成的特种机器人,并开展了机器人本体结构和控制系统设计、优化作业轨迹、前后臂拓扑优化设计以及机器人性能实地测试的工作。结合棉纺车间生产工业规划及机器人性能技术要求,确定了棉桶更换机器人的结构及组成,并对机器人腰部、臂部、腕部及末端执行器等关键部件进行结构设计;针对机器人系统设计功能与要求,给出了控制系统总体方案,并对伺服驱动原理及增益设置进行详细阐述,对控制器、驱动器和各类传感器进行选型设计,完成电气控制系统的设计。为了对棉桶更换机器人进行轨迹规划,基于机器人运动学理论,运用D-H算法建立运动学模型,计算运动学变换矩阵求解运动学正反解;基于轨迹规划理论,采用MATLAB仿真软件优化末端轨迹,根据优化结果分析末端轨迹及各关节速度、加速度情况;为进一步验证作业轨迹的稳定性,以优化后的轨迹作为驱动,采用ADAMS仿真软件做动力学仿真,分析各关节所受合力及合力矩情况,可根据优化后的轨迹规划现场作业轨迹。为实现机械本体的轻量化,基于结构优化及拓扑优化方法理论,提出采用拓扑优化方法对前后臂进行轻量化设计。结合机器人作业情况,采用ANSYS软件对前后臂进行静力学分析,获得危险工况下的应力和变形云图,对首台样机的设计尤为重要;采用拓扑优化方法对前后臂进行改进设计,并对改进后的结构进行分析验证,为课题后续产品研制提供了技术支持,为同类技术产品设计提供了借鉴。通过搭建试验样机,依据从低速到高速、空载到负载的调试原则,经不断调试运行,确定伺服增益及运动参数。对末端轨迹的合理性及位置准确度进行了测试,试验测试结果分析表明,该系统运行快速、平稳、定位精准,可实现棉桶更换搬运作业。全文在查阅大量中外密切相关技术文献的基础上,根据实际工程项目需求,提出棉桶更换机器人设计方案,对机械本体和控制系统进行了设计;基于运动学和轨迹规划理论,优化作业轨迹;采用拓扑优化方法实现了前后臂的轻量化;通过实际安装运行,对系统整体进行性能调试,实现棉桶自动更换搬运作业,解决了 “用工荒”的问题。
[Abstract]:In the face of the gradual weakening of the demographic dividend and the demand for the development of the market, industrial robots have been active in the household electrical appliances and logistics industries in recent years, promoting the development of various industries. Facing the shortage of labor in the cotton spinning industry, and the working environment of high temperature, high humidity and high noise, a kind of replacement and handling of cotton buckets is developed. The special robot in the industry can improve the automation of the industry and accelerate the upgrading of the industry structure. The literature research shows that the technical principles and methods used to solve the automatic replacement of the cotton bucket have not been reported. In order to change the present situation, a special robot composed of AGV car and cotton bucket replacement robot is designed and developed. The design of the robot's body structure and control system, the optimization of the job track, the topology optimization of the front and rear arms and the field testing of the robot's performance are worked out. The structure and composition of the cotton bucket replacement robot are determined by combining the production industry planning and the robot performance requirements of the cotton spinning workshop, and the waist, arm, wrist and end of the robot are held. The key components such as the actuator are designed. According to the function and requirements of the robot system design, the overall scheme of the control system is given. The principle of servo drive and the setting of the gain are expounded in detail. The design of the controller, the driver and various kinds of sensors is designed, and the design of the control system is completed. In order to change the robot of the cotton bucket, the system is designed. Based on the theory of robot kinematics, based on the theory of robot kinematics, the D-H algorithm is used to establish the kinematics model, and the kinematics transformation matrix is calculated to solve the positive and negative solutions. Based on the trajectory planning theory, the MATLAB simulation software is used to optimize the end trajectory, and the end trajectory and the velocity and acceleration of the joints are analyzed according to the optimization results. The stability of the trajectory is driven by the optimized trajectory. The ADAMS simulation software is used to do dynamic simulation, and the joint force and joint force moment of each joint are analyzed. The locus of field work can be planned according to the optimized trajectory. In order to realize the lightweight of the mechanical body, based on the theory of structural optimization and topology optimization, the topology optimization is proposed. A lightweight design for the front and rear arms is carried out. The static analysis of the front and rear arms is carried out by ANSYS software combined with the robot operation. The stress and deformation cloud chart under the dangerous conditions are obtained. The design of the first prototype is particularly important. The design of the front and rear arms is improved with the topology optimization method, and the improved structure is analyzed and analyzed. It provides technical support for the development of the following products, and provides reference for the design of similar technical products. By setting up the test prototype, the servo gain and motion parameters are determined according to the commissioning principle from low speed to high speed to the load, and the rationality and position accuracy of the end trajectory are tested and tested. The analysis of the test results shows that the system runs fast, stable and accurate, and can realize the replacement of the cotton bucket. On the basis of a large number of close related technical documents in China and foreign countries, the design scheme of the cotton bucket replacement robot is proposed based on the actual project requirements, and the mechanical and control systems are designed and based on the movement. The theory of learning and trajectory planning is used to optimize the trajectory of the operation, and the light weight of the front and rear arms is realized by the topology optimization method, and the performance of the system is debugged through the actual installation and operation to realize the automatic replacement of the carrying operation of the cotton bucket, and the problem of "labor shortage" is solved.

【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】