复杂形状零部件打磨作业机器人研究
发布时间：2018-11-13 20:42
【摘要】：工业机器人技术附加值高,应用范围广,是高端先进制造装备产业的重要组成部分。高端工业机器人的技术研发、制造和应用是衡量国家科技创新和高端装备制造产业水平的重要标志,是国家科技发展的重大战略需求。在先进制造领域,为了实现高效灵巧加工作业,通常需要加工制造装备具备五轴加工能力,而合理自由度布局的五自由度作业机器人即可满足工件一次装夹多面加工作业需求。复合式工业机器人因兼具串联机器人和并联机器人各自的优点而得到了专家学者的广泛关注与研究应用。面向作业姿态需要灵活调整的复杂形状零部件打磨作业领域,对于一次装夹开展多面打磨作业工况需求,采用复合式五自由度作业机器人作为加工作业装备将是一个很好的解决方案。本文面向复杂形状零部件打磨作业需求,设计研制一种灵巧作业空间大、作业姿态调整灵巧的复合式五自由度作业机器人,分别对所研制机器人的机构设计及其运动学与动力学建模、灵巧性分析、轨迹规划、打磨作业刀具路径规划、以及机器人实验平台搭建与打磨作业实验等方面开展深入研究。在复合式作业机器人的机构设计及其运动学与动力学建模方面,设计提出一种复合式五自由度作业机器人构型结构。建立机器人的运动学与动力学模型,提出一种具有唯一解形式的逆向运动学闭式解法,为后续开展研究提供机器人模型基础。在复合式作业机器人的灵巧性分析方面,提出一种基于映射空间包络曲面的机器人灵巧性分析方法,分析所设计提出的作业机器人的灵巧作业性能与作业任务可执行能力。分析总结影响机器人灵巧作业性能的结构参数因素以及与之相关的结构参数尺寸设计优化理论依据。求解机器人的可达工作空间与灵活工作空间。在复合式作业机器人的打磨作业任务轨迹规划方面,提出一种非等时长多目标平滑轨迹规划方法,针对打磨作业不同任务需求可以综合调整考虑时间、能耗、加加速度和加速度优化目标,能够规划出更多种类打磨作业任务的平滑控制轨迹形态。提出一种机器人动态承载能力的计算方法,开展机器人动态承载能力计算求解与机器人实验平台测试。在复合式作业机器人实验平台搭建与打磨作业实验研究方面,搭建所研制机器人的机械系统和运动控制系统。开展机器人实验平台的几何参数标定和位置精度及轨迹精度测试。从机器人打磨作业刀具接触位置与分层打磨作业规划以及接触姿态规划方面开展机器人打磨作业刀具路径规划研究。开展汽车轮毂辐板去毛刺打磨作业实验,机器人作业姿态可达性验证实验,以及汽车转向助力器壳体多面棱边打磨作业实验,验证机器人优良的灵巧作业性及打磨能力。
[Abstract]:Industrial robot technology with high added value and wide application range is an important part of high-end advanced manufacturing equipment industry. The research and development, manufacture and application of high-end industrial robots are the important symbols to measure the level of national scientific and technological innovation and high-end equipment manufacturing industry, and are important strategic requirements for the development of national science and technology. In the field of advanced manufacturing, in order to realize highly efficient and dexterous machining, it is usually necessary for machining equipment to have five-axis machining capability, and the five-degree-of-freedom robot with reasonable degree of freedom layout can meet the needs of workpiece single-clamping and multi-surface machining. Composite industrial robot has been widely studied and applied by experts and scholars because of its advantages of both serial robot and parallel robot. In the field of parts grinding with complex shape, which needs flexible adjustment of operation posture, it is necessary to carry out multi-sided grinding operation in a single clamping. It will be a good solution to use compound five-DOF robot as processing equipment. In this paper, a complex five-degree-of-freedom robot with large dexterous working space and dexterous attitude adjustment is designed and developed to meet the needs of grinding of parts with complex shape. The mechanism design, kinematics and dynamics modeling, dexterity analysis, trajectory planning, tool path planning of grinding operation, as well as the construction of robot experimental platform and grinding experiment were studied. In the aspect of mechanism design and kinematics and dynamics modeling of compound job robot, a configuration structure of compound five degree of freedom job robot is designed. The kinematics and dynamics model of the robot is established, and a closed inverse kinematics solution with unique solution is proposed, which provides the basis of the robot model for further research. In the aspect of the dexterity analysis of compound job robot, a method of robot dexterity analysis based on mapping space envelope surface is proposed, and the dexterity performance and task executable ability of the designed job robot are analyzed. This paper analyzes and summarizes the structural parameter factors which affect the dexterity performance of the robot and the theoretical basis for the optimization of the structural parameter size design. The reachable workspace and flexible workspace of the robot are solved. In the aspect of task trajectory planning of compound job robot, a non-equal-time multi-objective smooth trajectory planning method is proposed, which can comprehensively adjust the time and energy consumption according to different task requirements of grinding operation. By adding speed and acceleration, the smooth control trajectory of more kinds of grinding tasks can be planned. This paper presents a method to calculate the dynamic bearing capacity of a robot. The calculation of the dynamic bearing capacity of the robot and the test of the robot experimental platform are carried out. The mechanical system and motion control system of the developed robot are set up in the aspect of building the experimental platform and grinding operation experimental research. The calibration of geometric parameters and the measurement of position accuracy and trajectory accuracy of the robot experimental platform are carried out. The cutting tool path planning of robot grinding operation is carried out from the aspects of the contact position and layered grinding operation planning and the contact attitude planning of robot grinding tool. The experiments of deburring and grinding of automobile hub and spoke plate, verification of robot posture accessibility, and multi-sided edge grinding of automobile steering booster shell are carried out to verify the excellent dexterity and polishing ability of the robot.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:Industrial robot technology with high added value and wide application range is an important part of high-end advanced manufacturing equipment industry. The research and development, manufacture and application of high-end industrial robots are the important symbols to measure the level of national scientific and technological innovation and high-end equipment manufacturing industry, and are important strategic requirements for the development of national science and technology. In the field of advanced manufacturing, in order to realize highly efficient and dexterous machining, it is usually necessary for machining equipment to have five-axis machining capability, and the five-degree-of-freedom robot with reasonable degree of freedom layout can meet the needs of workpiece single-clamping and multi-surface machining. Composite industrial robot has been widely studied and applied by experts and scholars because of its advantages of both serial robot and parallel robot. In the field of parts grinding with complex shape, which needs flexible adjustment of operation posture, it is necessary to carry out multi-sided grinding operation in a single clamping. It will be a good solution to use compound five-DOF robot as processing equipment. In this paper, a complex five-degree-of-freedom robot with large dexterous working space and dexterous attitude adjustment is designed and developed to meet the needs of grinding of parts with complex shape. The mechanism design, kinematics and dynamics modeling, dexterity analysis, trajectory planning, tool path planning of grinding operation, as well as the construction of robot experimental platform and grinding experiment were studied. In the aspect of mechanism design and kinematics and dynamics modeling of compound job robot, a configuration structure of compound five degree of freedom job robot is designed. The kinematics and dynamics model of the robot is established, and a closed inverse kinematics solution with unique solution is proposed, which provides the basis of the robot model for further research. In the aspect of the dexterity analysis of compound job robot, a method of robot dexterity analysis based on mapping space envelope surface is proposed, and the dexterity performance and task executable ability of the designed job robot are analyzed. This paper analyzes and summarizes the structural parameter factors which affect the dexterity performance of the robot and the theoretical basis for the optimization of the structural parameter size design. The reachable workspace and flexible workspace of the robot are solved. In the aspect of task trajectory planning of compound job robot, a non-equal-time multi-objective smooth trajectory planning method is proposed, which can comprehensively adjust the time and energy consumption according to different task requirements of grinding operation. By adding speed and acceleration, the smooth control trajectory of more kinds of grinding tasks can be planned. This paper presents a method to calculate the dynamic bearing capacity of a robot. The calculation of the dynamic bearing capacity of the robot and the test of the robot experimental platform are carried out. The mechanical system and motion control system of the developed robot are set up in the aspect of building the experimental platform and grinding operation experimental research. The calibration of geometric parameters and the measurement of position accuracy and trajectory accuracy of the robot experimental platform are carried out. The cutting tool path planning of robot grinding operation is carried out from the aspects of the contact position and layered grinding operation planning and the contact attitude planning of robot grinding tool. The experiments of deburring and grinding of automobile hub and spoke plate, verification of robot posture accessibility, and multi-sided edge grinding of automobile steering booster shell are carried out to verify the excellent dexterity and polishing ability of the robot.
【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TP242
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