6自由度机械手臂的研究与仿真

发布时间：2018-08-06 20:07

【摘要】：工业机器人是一类比较经典的机电一体化设备,其运用领域广泛,附加值比较高。工业机器人是信息化社会的朝阳产业,也是未来先进制造技术的关键支柱,对于社会的进步与生产力的发展有着至关重要的影响。在了解了各种典型机械手臂的基础上,自行建立了一款六自由度的机械手臂Pro/E三维模型,根据其结构特点得出其D-H参数,根据D-H法建立机械手臂的运动学方程,研究其运动学正解、运动学逆解以及雅克比矩阵。通过所建模型得出其基本参数,分别计算出机械手臂的哥氏力、向心力与重力项系数,运用拉格朗日方法建立其动力学方程。基于MATLAB的Robotics Toolbox工具箱与修改的D-H法,建立机械手臂的数学模型,并通过可视化仿真与调用相关函数的方法分别对其进行正运动学与逆运动学仿真。在MATLAB环境下基于蒙特卡洛方法对机械手臂的工作空间进行了分析,同时采用五次多项式的方法对机械臂关节空间的进行轨迹规划,并编制程序进行仿真。更加直观地显示机械手臂各关节的运动情况,得到搬运工作情况下的机械手臂各关节角度变化曲线。利用机械系统动力学软件ADAMS与Pro/E之间的转换模块,把在Pro/E中的三维模型导入ADAMS中,创建了机械手臂的虚拟样机。将轨迹规划仿真数据作为驱动,对机械手臂在一般工况下进行动力学仿真,得出各个轴所受力矩变化情况,并进行有限元分析。
[Abstract]:Industrial robot is a kind of classical mechatronics equipment, which is widely used in many fields and has high added value. Industrial robot is the sunrise industry of the information society and the key pillar of the advanced manufacturing technology in the future. It has a vital influence on the progress of the society and the development of the productive forces. Based on the understanding of various typical mechanical arms, a six degree of freedom Pro/E three-dimensional model of the manipulator is established. According to its structural characteristics, the D-H parameters are obtained, and the kinematics equations of the manipulator are established according to the D-H method. The positive kinematics solution, inverse kinematics solution and Jacobian matrix are studied. The basic parameters of the model are obtained, and the coefficients of the Coriolis force, the centripetal force and the gravity term are calculated respectively, and the dynamic equations are established by using the Lagrangian method. Based on the Robotics Toolbox toolbox of MATLAB and the modified D-H method, the mathematical model of the manipulator is established, and the forward kinematics and inverse kinematics are simulated by visual simulation and the transfer of correlation function respectively. Based on the Monte Carlo method, the workspace of the manipulator is analyzed in MATLAB environment, and the trajectory planning of the joint space of the manipulator is carried out by using the fifth order polynomial method, and the simulation program is compiled. The motion of each joint of the manipulator is displayed more intuitively, and the angle change curve of each joint of the manipulator is obtained under the condition of moving. Using the conversion module between ADAMS and Pro/E, the 3D model in Pro/E is imported into ADAMS, and the virtual prototype of the manipulator is created. The trajectory planning simulation data are used as the driving force to simulate the dynamics of the manipulator under general working conditions, and the torque variation of each axis is obtained, and the finite element analysis is carried out.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

【相似文献】