基于规范化参数传递结构的步履式爬壁机器人快速设计

发布时间：2018-07-26 08:30

【摘要】：步履式爬壁机器人具有结构简单,越障、负载能力强,移动速度较快,控制简单有效等特点。为了缩短开发设计周期,提高其适应市场能力,本文提出了基于规范化参数传递结构的步履式爬壁机器人快速设计方法,以构建机器人快速设计平台为主线,在步履式爬壁机器人设计分析、参数传递结构、快速设计平台开发等方面做了详细研究:(1)步履式爬壁机器人设计与建模。从机械结构、驱动装置、吸附系统、控制系统四个部分出发,确定机器人总体设计方案;对影响机器人性能指标的主要参数与驱动件的选取进行分析;在Creo2.0软件中对机器人进行三维建模,为后续机器人快速设计平台提供初始模型基础。(2)规范化参数传递结构的快速设计方法研究。明确客户需求,建立客户需求模板;针对步履式爬壁机器人零装配件相互影响强度计算分析、制定参数传递规则,开展基于零装配件变型参数传递排序优化;最后,建立起一个既有规律又有效率的步履式爬壁机器人参数传递结构。(3)步履式爬壁机器人快速设计平台构建。采用规范化参数传递结构的快速设计方法,应用VS2010对Creo2.0进行二次开发,构建步履式爬壁机器人快速设计平台。通过实例操作介绍该平台功能及操作流程,验证本文快速设计方法可行性。采用上述研究方法,本文成功构建了步履式爬壁机器人快速设计平台。平台实例运行表明该方法能够快速分析、转换、生成满足客户需求的步履式爬壁机器人,提高机器人设计效率,减轻设计人员工作量,为相类似的机械产品快速设计提供参考方法。
[Abstract]:The walking wall-climbing robot has the advantages of simple structure, obstacle surmounting, strong load ability, fast moving speed and simple and effective control. In order to shorten the period of development and design and improve its ability to adapt to the market, this paper presents a fast design method of walking climbing robot based on standardized parameter transfer structure, which takes the construction of robot rapid design platform as the main line. The design and analysis of walking climbing robot, the structure of parameter transfer and the development of rapid design platform are studied in detail. (1) the design and modeling of walking climbing robot. From the four parts of mechanical structure, driving device, adsorption system and control system, the overall design scheme of robot is determined, and the main parameters affecting the performance of robot and the selection of driving parts are analyzed. The 3D modeling of the robot in Creo2.0 software provides the initial model foundation for the rapid design platform of the subsequent robot. (2) the research on the fast design method of the normalized parameter transfer structure. Clear customer needs, establish customer demand template; calculate and analyze the mutual impact strength of zero-fitting parts of walking wall-climbing robot, formulate parameter transfer rules, carry out sorting optimization based on zero-load accessories variant parameter transmission; finally, A parameter transfer structure of walking climbing robot is established, which is both regular and efficient. (3) the rapid design platform of walking climbing robot is constructed. Using the fast design method of normalized parameter transfer structure and the second development of Creo2.0 with VS2010, the rapid design platform of walking climbing robot is constructed. This paper introduces the function and operation flow of the platform by an example, and verifies the feasibility of the rapid design method in this paper. By using the above research method, a fast design platform of walking climbing robot is successfully constructed. The platform example shows that the method can quickly analyze, transform and generate a walking climbing robot to meet the needs of customers, improve the design efficiency of the robot, and reduce the workload of the designer. It provides a reference method for the rapid design of similar mechanical products.
【学位授予单位】：湘潭大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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