可重构夹具机器人的结构设计及运动分析

发布时间：2018-06-01 12:46

本文选题：夹具机器人 + 运动学建模　；参考：《天津理工大学》2017年硕士论文

【摘要】：夹具在汽车生产线中发挥着越来越重要的作用,应用越来越广泛,可移动的夹具在实际生产中是提高汽车生产线效率的一个重要因素。本文根据项目实际要求结合本课题组的研究内容,设计了一款新型的五自由度可重构夹具机器人,并对构建的可重构夹具机器人的运动学进行分析等,主要做了以下几个部分的工作。首先对夹具机器人的国内外发展现状进行分析,了解传统工装夹具与工业机械手的发展水平,了解传统工装夹具与工业机械手各自优点,为机器人结构设计奠定了理论基础。根据夹具机器人的工作对象、项目要求以及工况要求,在参考了国内外已有成熟的夹具机器人的基础上设计了一款新型的可重构夹具机器人,应用Solidworks对其建模并对夹具机器人的主体及夹具末端总成的驱动装置进行选型并进行参数校核,并通过Ansys中Workbench模块对可重构夹具机器人主体及其末端总成的关键受力部件进行静力学分析。其次通过D-H建模方法对可重构夹具机器人主体进行了运动学建模,得到了其运动学的正解,同时通过改进遗传算法解决了可重构夹具机器人主体逆解不唯一的情况,并得到最优解。在Matlab环境下,基于Robotics Toolbox工具箱,结合夹具机器人相关参数,建立夹具机器人三维模型,利用蒙特卡洛法计算出工作空间,为确定机器人构型及各部分尺寸提供了理论依据。最后应用关节插值法,对比分析笛卡尔空间轨迹规划与关节插值空间轨迹规划的优缺点,应用3次多项式插值法对夹具机器人主体进行运动轨迹规划与分析,规划的结果显示出运动过程的实时情况,得到主体末端关节的三维运动轨迹曲线以及各关节在一定时间内角位移及角速度的曲线,验证了夹具机器人设计的可靠性和稳定性,为今后进一步设计研究创造了良好的基础。
[Abstract]:Fixture plays a more and more important role in automobile production line, and its application is more and more extensive. Movable fixture is an important factor to improve the efficiency of automobile production line in actual production. According to the actual requirements of the project and the research contents of our group, a new reconfigurable fixture robot with five degrees of freedom is designed, and the kinematics of the reconfigurable fixture robot is analyzed. Mainly do the following parts of the work. Firstly, the development status of jig robot at home and abroad is analyzed, the development level of traditional fixture and industrial manipulator is understood, and the advantages of traditional fixture and industrial manipulator are understood, which lays a theoretical foundation for the structure design of robot. According to the working object, project requirement and working condition requirement of jig robot, a new reconfigurable fixture robot is designed on the basis of referring to the domestic and foreign mature jig robot. Solidworks is used to model the fixture robot and the driving device of the fixture end assembly is selected and the parameters are checked. The static analysis of the main body of reconfigurable fixture robot and the key components of its end assembly is carried out by Workbench module in Ansys. Secondly, the kinematics modeling of the reconfigurable fixture robot is carried out by D-H modeling method, and the positive kinematics solution is obtained. At the same time, the inverse solution of the reconfigurable fixture robot is solved by the improved genetic algorithm. The optimal solution is obtained. In the Matlab environment, based on the Robotics Toolbox toolbox and the related parameters of the fixture robot, the 3D model of the fixture robot is established, and the workspace is calculated by Monte Carlo method, which provides a theoretical basis for determining the configuration of the robot and the dimensions of each part. Finally, the advantages and disadvantages of Cartesian space trajectory planning and joint interpolation space trajectory planning are analyzed by using joint interpolation method, and the motion trajectory planning and analysis of the main body of fixture robot are carried out by using the cubic polynomial interpolation method. The results of the planning show the real-time situation of the motion process. The three-dimensional motion trajectory curve of the main body end joint and the curve of the angular displacement and angular velocity of each joint in a certain time are obtained. The reliability and stability of the jig robot design are verified. It has created a good foundation for further design and research in the future.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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