工业机器人运动仿真及轨迹规划研究

发布时间：2018-10-07 18:32

【摘要】：工业机器人与工业自动化水平联系紧密,凭借自动化水平不断提高,工业机器人技术在制造业等领域的使用也越来越广泛。根据工作场合不同,工业机器人的结构也各有千秋,正确的结构形式可以提高机器人的效率精度和灵活性。机器人运动学是研究各连杆与关节彼此间相对位置及相对运动的规律;机器人轨迹规划是将工作人员输入的任务描述转换成详细的运动轨迹描述。只有合理的结构设计、正确的运动仿真和完整的轨迹规划才能使机器人顺利完成工作任务。本文研究从上述三个方面入手:首先,根据工作任务要求与技术参数,本文完成了一个六关节的工业机器人本体结构的初步设计,建立其三维模型,并对机器人的主要部件进行研究设计。之后,根据材料要求,确定主要部件的使用材料。结构与材料设计完成后,结合有限元法对机器人的臂部件进行强度校核。此外,论文对机器人的驱动系统和传动机构进行了研究。其次,本文对机器人运动学进行研究。在机器人运动学中,D-H理论是推导运动学方程的基础,研究先围绕D-H理论展开并创建机器人的D-H运动模型,通过坐标变换推导出运动学方程,再计算其正解与逆解及雅克比矩阵。工作空间是衡量机器人工作性能的重要指标,本文先对工作空间的理论进行研究,再利用软件进行仿真,得到工作空间的三维点云。章节最后对机器人正逆运动学两种情况分别进行仿真比较。最后,本文对机器人的轨迹规划进行研究,对机器人的轨迹和路径等概念进行阐述。轨迹规划分为关节空间和笛卡尔空间两种情况,故分别对两种情况下的轨迹插值方法进行研究,并对关节空间下的三次多项式插值与五次多项式插值两种方法进行仿真,对二者的优缺点进行比较。
[Abstract]:Industrial robots are closely related to the level of industrial automation. With the continuous improvement of the level of automation, industrial robot technology in manufacturing and other fields are more and more widely used. According to the work situation, the industrial robot has its own structure, and the correct structure can improve the efficiency, precision and flexibility of the robot. Robot kinematics is to study the relative position and relative motion of each link and joint, and the robot trajectory planning is to convert the task description input by the worker into the detailed motion trajectory description. Only by reasonable structure design, correct motion simulation and complete trajectory planning can the robot complete the task successfully. This paper begins with the above three aspects: firstly, according to the task requirements and technical parameters, this paper completes the preliminary design of the body structure of a six-joint industrial robot, and establishes its three-dimensional model. The main components of the robot are studied and designed. Then, according to the material requirements, determine the main parts of the use of materials. After the structure and material design are finished, the strength of the arm parts of the robot is checked with the finite element method. In addition, the driving system and transmission mechanism of the robot are studied in this paper. Secondly, the kinematics of robot is studied in this paper. The D-H theory is the basis of the derivation of kinematics equation in robot kinematics. The D-H motion model of the robot is first developed around D-H theory and the kinematic equation is derived by coordinate transformation, and then the forward and inverse solutions and Jacobian matrix are calculated. Workspace is an important index to measure the performance of robot. In this paper, the theory of workspace is studied firstly, and then the 3D point cloud of workspace is obtained by software simulation. At the end of the chapter, the forward and inverse kinematics of the robot are simulated and compared. Finally, the trajectory planning of the robot is studied, and the concepts of the trajectory and path of the robot are expounded. Trajectory planning is divided into joint space and Cartesian space, so the trajectory interpolation methods in two cases are studied, and the cubic polynomial interpolation and the fifth polynomial interpolation in joint space are simulated. The advantages and disadvantages of the two are compared.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242.2

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