纺织鞋面自动内外斩生产线上下料系统设计

发布时间：2018-06-21 05:23

本文选题：生产线 + 末端吸取器　；参考：《东华大学》2017年硕士论文

【摘要】：本文研究的主要内容是上下料系统的设计,它适用于纺织鞋面自动内外斩的生产线。其中上下料系统设计包括两个方面:一是机械手末端吸取器的系统设计,它是要对纺织鞋面进行拾取和释放的执行装置;二是对所选用的进行上下料的ABB型号的机械手进行运动学方面的分析和仿真。由于鞋面印花材质的气密特性,机械手末端吸取器选择的是真空气动系统对纺织鞋面进行上料动作和下料动作的。首先对末端吸取器的骨架进行了结构方面的设计以及材料的选型和安装方法给予了介绍。然后,根据真空系统原理,通过计算确定了本系统的气动参数。将所需组件的参数输入到SMC真空气动系统组件选型的软件中,软件会自发进行计算验核,最后在结果界面上得到我们的组件选型型号和真空系统的性能分析曲线。然后选择了一款关节坐标式的ABB公司生产的IRB1600型号上下料的机械手,为后文作机械手的运动学分析提供了实体结构模型依据。接着说明了机械手在空间坐标系下的位姿表示方法,建立D-H机械手连杆参数,运用位姿变化公式求得机械手的正运动学方程,和逆运动学方程。通过Matlab利用Robotics工具箱建立了机械手三维模型,进行正运动学和逆运动学的仿真分析以及验证。应用MATLAB对机械手的空间运动轨迹进行仿真分析,在正运动学矩阵方程的基础上计算绘制出机械手的工作空间,即在空间中机械手可到达的区域的集合,包括机械手工作空间的立体仿真和平面的投影。详细分析了机械手在直角空间的轨迹规划,提出了针对本设计中机械手模型的直线路径和圆弧路径的解决方案——空间直线轨迹运动插补方法和空间圆弧运动插补方法。结合Matlab和Robotics工具箱的直角空间规划算法进行仿真验证。最后,基于ADAMS软件对ABB机械手的上下料运作进行运动学仿真分析。
[Abstract]:The main content of this paper is the design of the upper and lower material system, which is suitable for the production line of textile upper automatic internal and external chopping. The design of the upper and lower material system includes two aspects: one is the system design of the end absorber of the manipulator, which is the executing device to pick up and release the textile upper; Second, the kinematics analysis and simulation of ABB manipulator selected for loading and unloading. Because of the airtight property of the upper printing material, the end absorber of the manipulator selects the vacuum pneumatic system to carry on the feeding action and the unloading action to the textile upper. First, the structure design, material selection and installation method of the end absorber are introduced. Then, according to the principle of vacuum system, the aerodynamic parameters of the system are determined by calculation. The parameters of the required components are input into the software for the selection of SMC vacuum pneumatic system components, and the software automatically calculates and verifies. Finally, the model selection of the components and the performance analysis curve of the vacuum system are obtained on the result interface. Then, an IRB1600 manipulator with joint coordinate is selected, which provides a solid structure model for kinematics analysis of the manipulator. Then the representation method of position and attitude of manipulator in spatial coordinate system is explained. The parameters of connecting rod of D-H manipulator are established. The forward kinematics equation and inverse kinematics equation are obtained by using the pose change formula. The three-dimensional model of manipulator is established by using the Robotics toolbox in Matlab. The forward kinematics and inverse kinematics are simulated and verified. Based on the positive kinematics matrix equation, the workspace of manipulator is calculated and plotted by MATLAB, which is the set of the region that manipulator can reach in space. Including manipulator workspace stereo simulation and plane projection. The trajectory planning of manipulator in right angle space is analyzed in detail, and the solutions of linear path and arc path of manipulator model in this design are put forward, namely, the interpolation method of space linear trajectory motion and the method of space arc motion interpolation. The right angle space planning algorithm of Matlab and Robotics toolbox is simulated and verified. Finally, the kinematics simulation of ABB manipulator is carried out based on Adams software.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TS943.6;TP241

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