六轴小型关节型机器人设计、分析和标定研究
发布时间：2019-06-14 21:31
【摘要】：工业机器人作为智能制造的重要载体,在市场需求快速增长的时候,面临着巨大的挑战,自动化的普及使得现在的企业越来越多的运用工业机器人,工业机器人的本体设计是机器人四大核心研究中的重要的内容之一,机器人的运动学标定实验在目前提高机器人精度中的实验中具有十分重要的理论和现实的意义。工业机器人的精度分为绝对定位精度和重复定位精度,机器人的绝对定位精度比重复定位精度要低,不能满足机器人在离线编程方式下机器的精度。机器人的离线编程的操作越来越普及,对机器人的绝对定位精度提高了要求,解决此问题的方法就是进行机器人的标定。根据定制的减速器和客户要求自主研发设计的一款六轴小型关节型的工业机器人,通过三维软件solidworks设计机器人的三维模型,对三维模型进行相应的简化处理之后通过Parasolid格式导入到ADAMS软件中,建立solid机器人的样机,施加约束,定义相应的参数,添加驱动对其进行运动学分析,分析末端的位移、速度、加速度的曲线,得出机器人在相应工况下运动平稳,机器人本体设计合理,再进行动力学分析,得出每个关节的扭矩图,验证电机选用的合理。根据机器人的实际结构,通过DH方法得出连杆参数描述机构运动关系,建立机器人运动学模型,对机器人进行运动学分析,推导机器人的正解和逆解的求解方法,通过Matlab的Robotics tool工具箱的软件建立机器人样机,输入角度得出机器人的初始位姿和某一状态的位姿,对比验证机器人的控制面板上的同样的角度的机器人的位姿,验证了两种状态下的位姿参数是一致的,验证了机器人的运动学模型建立正确。针对工业机器人的特点,分析得出影响机器人末端绝对定位精度的一些因素,选用MDH模型方法建立连杆坐标系和基于微分思想的方法建立机器人的误差模型,运用Matlab软件编写机器人的误差模型的程序,给出一组机器人理论的运动学参数与误差值进行模拟求解,验证机器人误差模型的正确性。通过三坐标测量仪的直接测量法对机器人进行标定实验,从实验得出数据,通过参数辨识矩阵的方法辨识出机器人的运动学参数误差值,在机器人控制器中进行补偿,然后再对补偿后的末端位姿进行测量和对比,从数据对比图得出机器人的绝对定位精度有所提高。
[Abstract]:As an important carrier of intelligent manufacturing, industrial robot is facing great challenges when the market demand is growing rapidly. with the popularization of automation, more and more enterprises use industrial robot. The ontology design of industrial robot is one of the important contents in the four core research of robot. The kinematic calibration experiment of robot has very important theoretical and practical significance in improving the accuracy of robot at present. The accuracy of industrial robot is divided into absolute positioning accuracy and repeated positioning accuracy. The absolute positioning accuracy of the robot is lower than that of the repeated positioning accuracy, which can not meet the accuracy of the robot in off-line programming mode. The operation of off-line programming of robot is becoming more and more popular, and the absolute positioning accuracy of robot is improved. The method to solve this problem is to calibrate the robot. According to the custom reducer and the customer request, a six-axis small joint type industrial robot is designed. The three-dimensional model of the robot is designed by three-dimensional software solidworks, and then the three-dimensional model is simplified and imported into the ADAMS software through Parasolid format. The prototype of the solid robot is established, the constraints are imposed, the corresponding parameters are defined, the kinematic analysis is carried out by adding the driver, and the displacement and speed at the end are analyzed. The acceleration curve shows that the robot moves smoothly under the corresponding working conditions, the design of the robot body is reasonable, and then the dynamic analysis is carried out, and the torque diagram of each joint is obtained to verify the rationality of motor selection. According to the actual structure of the robot, the kinematic relationship of the connecting rod parameter description mechanism is obtained by DH method, the kinematic model of the robot is established, the kinematic analysis of the robot is carried out, the solution method of the forward solution and the inverse solution of the robot is deduced, the prototype of the robot is established by the software of Robotics tool toolbox of Matlab, and the initial pose and pose of the robot in a certain state are obtained from the input angle. By comparing and verifying the pose of the robot with the same angle on the control panel of the robot, it is verified that the pose parameters of the two states are the same, and the kinematic model of the robot is established correctly. According to the characteristics of industrial robot, some factors affecting the absolute positioning accuracy of robot end are analyzed. The connecting rod coordinate system is established by MDH model method and the error model of robot is established based on differential thought. The error model of robot is programmed by Matlab software, and a set of kinematic parameters and error value of robot theory are given to verify the correctness of robot error model. The calibration experiment of the robot is carried out by the direct measurement method of the coordinate measuring instrument, and the data are obtained from the experiment. The error value of the kinematic parameters of the robot is identified by the method of parameter identification matrix and compensated in the robot controller. Then the compensated end pose is measured and compared, and the absolute positioning accuracy of the robot is improved from the data comparison diagram.
【学位授予单位】：扬州大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2499715
[Abstract]:As an important carrier of intelligent manufacturing, industrial robot is facing great challenges when the market demand is growing rapidly. with the popularization of automation, more and more enterprises use industrial robot. The ontology design of industrial robot is one of the important contents in the four core research of robot. The kinematic calibration experiment of robot has very important theoretical and practical significance in improving the accuracy of robot at present. The accuracy of industrial robot is divided into absolute positioning accuracy and repeated positioning accuracy. The absolute positioning accuracy of the robot is lower than that of the repeated positioning accuracy, which can not meet the accuracy of the robot in off-line programming mode. The operation of off-line programming of robot is becoming more and more popular, and the absolute positioning accuracy of robot is improved. The method to solve this problem is to calibrate the robot. According to the custom reducer and the customer request, a six-axis small joint type industrial robot is designed. The three-dimensional model of the robot is designed by three-dimensional software solidworks, and then the three-dimensional model is simplified and imported into the ADAMS software through Parasolid format. The prototype of the solid robot is established, the constraints are imposed, the corresponding parameters are defined, the kinematic analysis is carried out by adding the driver, and the displacement and speed at the end are analyzed. The acceleration curve shows that the robot moves smoothly under the corresponding working conditions, the design of the robot body is reasonable, and then the dynamic analysis is carried out, and the torque diagram of each joint is obtained to verify the rationality of motor selection. According to the actual structure of the robot, the kinematic relationship of the connecting rod parameter description mechanism is obtained by DH method, the kinematic model of the robot is established, the kinematic analysis of the robot is carried out, the solution method of the forward solution and the inverse solution of the robot is deduced, the prototype of the robot is established by the software of Robotics tool toolbox of Matlab, and the initial pose and pose of the robot in a certain state are obtained from the input angle. By comparing and verifying the pose of the robot with the same angle on the control panel of the robot, it is verified that the pose parameters of the two states are the same, and the kinematic model of the robot is established correctly. According to the characteristics of industrial robot, some factors affecting the absolute positioning accuracy of robot end are analyzed. The connecting rod coordinate system is established by MDH model method and the error model of robot is established based on differential thought. The error model of robot is programmed by Matlab software, and a set of kinematic parameters and error value of robot theory are given to verify the correctness of robot error model. The calibration experiment of the robot is carried out by the direct measurement method of the coordinate measuring instrument, and the data are obtained from the experiment. The error value of the kinematic parameters of the robot is identified by the method of parameter identification matrix and compensated in the robot controller. Then the compensated end pose is measured and compared, and the absolute positioning accuracy of the robot is improved from the data comparison diagram.
【学位授予单位】：扬州大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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