SCARA搬运机器人轨迹规划与运动控制研究

发布时间：2018-05-20 09:29

本文选题：搬运机器人 + 运动学分析　；参考：《山东科技大学》2017年硕士论文

【摘要】：在现代自动化制造业的发展过程中,机器人搬运技术发挥着极为重要的作用,广泛应用于电子产品、食品工业等小型工件的自动化搬运行业。近年来SCARA机器人的应用发展迅速,但在搬运过程中SCARA机器人的结构只能满足工件的抓取和放置的形态一致,在部分食品搬运装箱过程中还存在一定的局限性,对SCARA机器人搬运技术提出了更高的要求。本文根据SCARA机器人的搬运功能要求、工作特性及应用领域,开发了SCARA搬运机器人,完成了五自由度SCARA搬运机器人三维建模和总体方案。建立了 SCARA搬运机器人的D-H坐标系,对各个机械手臂之间的位置和姿态关系进行了分析,并列出了 D-H参数,完成了机器人运动学正逆解的分析。分析了速度控制曲线、笛卡尔和关节空间的轨迹规划基本算法,提出了基于S型速度曲线单段直线的启停算法以及SCARA搬运机器人的S型速度曲线和五次多项式过渡曲线相结合的轨迹规划算法,并进行了轨迹仿真,绘制出了相应的仿真变化曲线。论述了嵌入式系统以及Windows CE6.0操作系统的结构特点,对SCARA搬运机器人的运动控制器进行了硬件的选型和软件设计,分析了控制系统的软件设计流程,搭建了 Windows CE6.0操作系统软件开发环境,采用了基于 Windows CE6.0 操作系统平台下的 Microsoft Visual Studio 2008(VS2008)软件进行了应用程序以及图形用户界面的开发,对控制系统采用模块化的思想,并详细分析了部分模块的功能以及相关程序的设计。研究了控制系统的实现,完成了 VS2008软件工具环境配置及PC机与实验设备的通讯,通过进行了一系列的MCT2008软件调试工作,验证了控制系统的可行性。
[Abstract]:In the development of modern automation manufacturing, robot handling technology plays a very important role, widely used in electronic products, food industry and other small parts of the automatic handling industry. In recent years, the application of SCARA robot has developed rapidly, but the structure of SCARA robot can only meet the requirements of grasping and placing the workpiece in the process of handling and packing, and there are still some limitations in the process of food handling and packing. Higher requirements for SCARA robot handling technology are put forward. According to the requirements, working characteristics and application fields of the SCARA robot, a SCARA handling robot is developed in this paper. The three-dimensional modeling and the overall scheme of the five-degree-of-freedom SCARA handling robot are completed. The D-H coordinate system of SCARA moving robot is established, the position and attitude of each manipulator are analyzed, D-H parameters are listed, and the kinematics inverse solution of the robot is analyzed. The basic algorithms of velocity control curve, Cartesian and joint space trajectory planning are analyzed. In this paper, a starting and stopping algorithm based on a single straight line of S-type velocity curve and a trajectory planning algorithm based on S-type velocity curve and quintic transition curve of SCARA moving robot are proposed, and the trajectory simulation is carried out. The corresponding simulation curve is drawn. The structural characteristics of embedded system and Windows CE6.0 operating system are discussed. The hardware selection and software design of the motion controller of SCARA handling robot are carried out, and the software design flow of the control system is analyzed. The software development environment of Windows CE6.0 operating system is built. The application program and graphical user interface are developed by using Microsoft Visual Studio 2008 VS2008 software based on Windows CE6.0 operating system. The control system is modularized. The functions of some modules and the design of related programs are analyzed in detail. The realization of the control system is studied, and the configuration of the VS2008 software tool environment and the communication between PC and the experimental equipment are completed. The feasibility of the control system is verified by a series of debugging work of the MCT2008 software.
【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】