六自由度可控机构式喷涂机器人动态特性和轨迹规划研究

发布时间：2018-05-17 03:13

本文选题：运动学分析 + 动力学分析　；参考：《广西大学》2017年硕士论文

【摘要】：目前,应用比较广泛的喷涂机器人是串联机器人,具有结构简单、工作空间大的优点,但是由于其机构是一条较长的串联链,且其驱动器主要装在机器人的关节位置上,所以机器人的整体刚度不高,高速运动时有较大的惯性,其关节的累计误差较大,同时影响机器人的精度。本文针对传统串联机构和并联机构的特点,将可控机构理论应用到机械设计中,设计了一种新型六自由度可控机构式喷涂机器人。改变驱动器的布局,将传统的直接驱动方式转变为间接驱动方式,这种间接驱动是通过四连杆机构把驱动器的运动传递到驱动关节,不仅增加了机构整体的刚度,而且使得其中一个驱动器的安装位置下置到基座上,减小了机构的惯量;将四连杆机构设计成平行四边形机构,相比于非平行的有更大的工作空间和灵活性,且易于控制;下置的驱动器采用伺服电动缸,它可以提供较大的推力,而且它的位置、速度和力控制精度较高。本文针对这种六自由度可控机构式喷涂机器人主要做了以下五个方面的研究工作。第一,介绍了传统工业喷涂机器人的结构特点,阐述了新型六自由度可控喷涂机器人的设计思路,利用螺旋理论分析了喷涂机器人的自由度。第二,采用D-H法分析该喷涂机器人的运动学,并求解了喷涂机器人的正运动学方程;并运用代数封闭解法分析了喷涂机器人的逆运动学问题,然后考虑机器人的微分运动分析了机器人的速度问题。第三,通过积分的方式,由微元到整体,应用拉格朗日法求解喷涂机器人的动力学方程。第四,用连续接触模型分析了考虑两个运动副间隙的机器人的动态特性。第五,基于用户的要求进行了笛卡尔空间的轨迹规划,然后反解得到关节角度,最后采用高阶多项式进行拟合,完成喷涂机器人的关节空间轨迹规划内容。
[Abstract]:At present, the widely used spraying robot is a series robot, which has the advantages of simple structure and large workspace, but its mechanism is a long series chain, and its driver is mainly installed in the joint position of the robot. Therefore, the overall stiffness of the robot is not high, there is a large inertia when moving at high speed, the accumulative error of its joint is larger, and the precision of the robot is also affected. According to the characteristics of traditional series mechanism and parallel mechanism, this paper applies the theory of controllable mechanism to mechanical design, and designs a new kind of six-degree-of-freedom controllable mechanism spraying robot. By changing the layout of the driver, the traditional direct drive mode is changed into the indirect drive mode. The indirect driving mechanism transfers the drive motion to the drive joint through the four-bar linkage mechanism, which not only increases the stiffness of the mechanism as a whole. Furthermore, one of the actuators is arranged on the base to reduce the inertia of the mechanism, and the four-bar linkage is designed into a parallelogram mechanism, which has more workspace and flexibility than the non-parallel one, and is easy to control. The lower driver adopts servo electric cylinder, which can provide large thrust, and its position, speed and force control accuracy are higher. In this paper, the six-DOF controllable mechanism spraying robot is studied in the following five aspects. Firstly, the structural characteristics of the traditional industrial spraying robot are introduced, and the design idea of the new controllable spraying robot with six degrees of freedom is expounded, and the degree of freedom of the spraying robot is analyzed by the spiral theory. Secondly, the kinematics of the spraying robot is analyzed by D-H method, and the forward kinematics equation of the spraying robot is solved, and the inverse kinematics problem of the spraying robot is analyzed by using the algebraic closed solution. Then, considering the differential motion of the robot, the velocity problem of the robot is analyzed. Thirdly, the Lagrangian method is used to solve the dynamic equations of the spray robot by integral method from the differential element to the whole. Fourthly, the dynamic characteristics of the robot considering the clearance of two pairs of motion are analyzed by continuous contact model. Fifthly, the trajectory planning of Cartesian space is carried out based on the user's requirements, and then the joint angle is obtained by inverse solution. Finally, the joint space trajectory planning content of the spraying robot is completed by using high-order polynomial fitting.
【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】