自动上下料的欠驱动机械臂的设计

发布时间：2018-12-09 12:58

【摘要】：目前用于上下料作业的串联机械手常用多六自由度关节臂机械手,其具有运动灵活、作业半径大的优点,但也存在需要多个电机协同控制、控制系统复杂、成本高等缺点。现有的上下料作业经常只需利用二自由度、或三自由度运动实现,六自由度关节臂机械手并不适用于该类作业。本文根据上下料作业所需运动特点,设计了用于上下料作业的欠驱动机械臂。本文首先分析了所设计的上下料欠驱动机械臂的技术指标和工作原理,并推导出其中关键部件连杆机构的运动数学模型,用于确定编码器与制动器的安装位置,并找出末端手爪的中心位置、两种运动模式下的机械臂的运动范围与各个关节的长度以及转角之间的关系。同时建立关键部件连杆机构的虚拟样机模型,利用ADAMS软件进行仿真实验,验证欠驱动机械臂的工作原理,应用实验结果指导连杆机构优化设计。同时比较仿真试验测量结果与连杆机构的理论模型计算结果,找出两者之间的差异,并分析其产生原因。本文根据上下料欠驱动机械臂的技术指标与理论分析与仿真试验结果,利用工程软件Solidworks设计其组成部分结构与选材,设计了虚拟样机。欠驱动机械臂采用带有滚轮的支撑机构作为底座,通过步进电机驱动连杆机构运转,控制末端夹持器的运动。机械臂能够到达的位置通过角位移传感器实时测量关节转动角度,由电磁制动器锁定与松开机架,实现连杆机构两种运动方式。本文使用ANSYS分析软件对机械臂各关键部件进行力学分析,分析结果表明各关键部件的设计是合理的。另外本文在ANSYS workbench中进行了欠驱动机械臂连杆机构模态分析,验证机械臂运动中是否出现共振现象。从模态分析结果中得到了连杆机构的各阶共振频率分别为80Hz和100Hz,30转/分的电机驱动不会使欠驱动机械臂的运动出现共振,不会影响机械臂的定位精度。
[Abstract]:At present, the series manipulator is used for loading and unloading, which has the advantages of flexible motion and large operation radius, but it also has the disadvantages of multi-motor cooperative control, complex control system, high cost and so on. The existing loading and unloading operations are usually realized only by using two or three degrees of freedom, and the six degree of freedom joint arm manipulator is not suitable for this kind of operation. In this paper, an underactuated manipulator for loading and unloading operation is designed according to the movement characteristics of upper and lower material operation. In this paper, the technical specifications and working principle of the designed underactuated manipulator are analyzed, and the kinematic mathematical model of the link mechanism, which is the key component, is derived to determine the installation position of the encoder and brake. The central position of the terminal claw and the relationship between the range of motion of the manipulator and the length of each joint and the angle of rotation are found out. At the same time, the virtual prototype model of the key component linkage mechanism is established, and the simulation experiment is carried out by using ADAMS software to verify the working principle of the underactuated manipulator, and the experimental results are used to guide the optimal design of the linkage mechanism. At the same time, the results of the simulation test and the theoretical model of the linkage mechanism are compared, the difference between them is found out, and the reasons are analyzed. According to the technical index, theoretical analysis and simulation test results of the underactuated manipulator, a virtual prototype is designed by using the engineering software Solidworks to design its component structure and material selection. The underactuated manipulator uses the supporting mechanism with roller as the base, and controls the movement of the terminal gripper by driving the linkage mechanism through the stepping motor. The position that the manipulator can reach can measure the angle of joint rotation in real time through the angle displacement sensor. The electromagnetic brake can lock and loosen the frame to realize two kinds of motion modes of the linkage mechanism. In this paper, the mechanical analysis of the key components of the manipulator is carried out by using the ANSYS software. The results show that the design of the key components is reasonable. In addition, modal analysis of underactuated linkage mechanism in ANSYS workbench is carried out to verify whether resonance occurs in the motion of the manipulator. From the results of modal analysis, it is obtained that the drive of motor with resonance frequencies of 80Hz and 100Hz / min will not cause the motion of underactuated manipulator to resonate, and will not affect the positioning accuracy of the manipulator.
【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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