基于AMESim与ADAMS机械手设计和仿真
发布时间：2018-10-25 06:37
【摘要】：本设计研究的内容是来源于某企业一生产流水线上搬运工料的项目。根据企业的计划书,设计出一种适用于该生产线上工作的机械手。工业机器人作为近些年飞速起步的高新技术产品,它在各大领域应用广泛。在我国,本土的机械手企业们在面对着占据极大市场份额的大量优秀的国外企业,具有非常严峻的竞争压力。如今我国正在从一个"制造大国"向"制造强国"转型,中国制造业必将与国际接轨,自动化水平提高迫在眉睫,机械手的发展必将为工业化注入新的血液。由于液压驱动相对其他驱动方式具有负载大,工作可靠的特点。所以本课题设计的机械手采用液压驱动来作为它的驱动方式。在综合各方面因素以及用户所要求的基础上,再根据企业需求及现实情况本设计总体方案是采用四自由度的机械手,主要通过CATIA软件对机械手的构件进行三维建模。具体分析了运动原理和工作循环,完成了液压系统的设计,如液压执行元件驱动力的计算;对液压缸压力与流量的计算以及液压缸的选型等;绘制出液压系统原理图;对液压元件如液压泵,管道,油箱的计算与选取;对液压系统工作性能的验证;用AMESim对液压系统进行动力学分析;对机械手建模并且运用ADAMS对其开展运动学仿真以确保设计的可行性。
[Abstract]:The content of this design research is from a production line of a certain enterprise to carry the material project. According to the enterprise's plan, a manipulator is designed to work on the production line. As a high-tech product, industrial robot has been widely used in many fields. In our country, the domestic manipulator enterprises are facing a great deal of outstanding foreign enterprises which occupy a great market share, and have very severe competition pressure. At present, China is transforming from a "manufacturing power" to a "manufacturing power". China's manufacturing industry is bound to be in line with the international standards, and the level of automation is imminent. The development of the manipulator will surely inject new blood into the industrialization. Compared with other driving methods, hydraulic drive has the characteristics of heavy load and reliable operation. So the manipulator designed in this paper adopts hydraulic drive as its driving mode. On the basis of synthesizing all kinds of factors and the requirements of the users, according to the demand of the enterprise and the actual situation, the overall scheme of the design is to adopt the manipulator with four degrees of freedom, mainly through the CATIA software to carry on the three-dimensional modeling of the components of the manipulator. The movement principle and working cycle are analyzed, and the hydraulic system is designed, such as the calculation of the driving force of the hydraulic actuator, the calculation of the pressure and flow rate of the hydraulic cylinder and the selection of the hydraulic cylinder, and the schematic diagram of the hydraulic system is drawn. Calculation and selection of hydraulic components such as hydraulic pump, pipeline and tank; verification of hydraulic system performance; dynamic analysis of hydraulic system with AMESim; The manipulator is modeled and kinematically simulated by ADAMS to ensure the feasibility of the design.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
本文编号：2292923
[Abstract]:The content of this design research is from a production line of a certain enterprise to carry the material project. According to the enterprise's plan, a manipulator is designed to work on the production line. As a high-tech product, industrial robot has been widely used in many fields. In our country, the domestic manipulator enterprises are facing a great deal of outstanding foreign enterprises which occupy a great market share, and have very severe competition pressure. At present, China is transforming from a "manufacturing power" to a "manufacturing power". China's manufacturing industry is bound to be in line with the international standards, and the level of automation is imminent. The development of the manipulator will surely inject new blood into the industrialization. Compared with other driving methods, hydraulic drive has the characteristics of heavy load and reliable operation. So the manipulator designed in this paper adopts hydraulic drive as its driving mode. On the basis of synthesizing all kinds of factors and the requirements of the users, according to the demand of the enterprise and the actual situation, the overall scheme of the design is to adopt the manipulator with four degrees of freedom, mainly through the CATIA software to carry on the three-dimensional modeling of the components of the manipulator. The movement principle and working cycle are analyzed, and the hydraulic system is designed, such as the calculation of the driving force of the hydraulic actuator, the calculation of the pressure and flow rate of the hydraulic cylinder and the selection of the hydraulic cylinder, and the schematic diagram of the hydraulic system is drawn. Calculation and selection of hydraulic components such as hydraulic pump, pipeline and tank; verification of hydraulic system performance; dynamic analysis of hydraulic system with AMESim; The manipulator is modeled and kinematically simulated by ADAMS to ensure the feasibility of the design.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241
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