4轴机器人在冲压自动化中的轨迹优化及应用研究
发布时间：2019-06-19 09:26
【摘要】：随着工业自动化的不断发展,劳动密集的制造业开始实行产业结构调整升级,逐步实现机器人代替人工进行生产作业。本论文选取中小型冲压企业的生产为背景,分析冲压自动化生产的特点和需求,以4轴串联工业机器人为研究对象,以提高冲压生产效率为目的,结合机器人运动学和动力学理论知识,在约束条件下进行了基于时间最优的轨迹规划研究。本论文在综述了冲压自动化技术和工业机器人技术的基础下,从落料工艺后单机单工序生产的工艺过程和现场条件出发,由冲压自动化生产与工业机器人应用的结合,对单机单工序的冲压生产进行了详细的需求分析。结合机器人理论知识,采用D-H法对一种4轴机器人建立连杆坐标系,列出关节变换矩阵和运动学方程。采用牛顿-欧拉法对机器人进行动力学研究,建立机器人的动力学模型。然后针对机器人的自动上下料过程,运用5次多项式插值法拟合关节位移轨迹,以冲压过程单周期运行时间最短为优化目标,以机器人关节驱动力、驱动速度和工艺过程为约束条件建立轨迹优化数学模型,采用二分法进行优化计算,求出各关节单周期运行时间最优轨迹,并以ADAMS软件对关节轨迹进行了运动仿真。最后以PLC控制的实验平台进行了轨迹优化对比实验,并分析了机器人的工作效率。研究表明,通过对机器人运动过程进行时间优化,可以进一步提高机器人在冲压生产中的效率,论文所采用的单周期时间最优轨迹规划方法实现过程简单、机器人控制效果良好,具有在冲压自动化生产中推广应用的价值。
[Abstract]:With the development of the industrial automation, the labor-intensive manufacturing industry has started to carry out the industrial structural adjustment and upgrade, and gradually realized the robot to replace the manual production operation. The paper selects the production of small and medium-sized stamping enterprises as the background, analyzes the characteristics and requirements of the automatic production of the stamping, and takes the 4-axis serial industrial robot as the research object to improve the efficiency of the stamping production, and combines the theoretical knowledge of the kinematics and dynamics of the robot. The study of trajectory planning based on time-optimal is carried out under the constraint conditions. Based on the review of the technology of punching automation and the technology of industrial robot, this paper, from the process of single-process production and on-site conditions of single-process, is combined with the application of industrial robot. The stamping production of single-unit single-process is analyzed in detail. In combination with the theory of the robot, the D-H method is adopted to establish a connecting-rod coordinate system for a four-axis robot, and the joint transformation matrix and the kinematic equation are listed. The dynamics of the robot is studied by the Newton-Euler method, and the dynamic model of the robot is established. then, aiming at the automatic loading and unloading process of the robot, the joint displacement track is fitted by using a five-time polynomial interpolation method, the operation time of the single cycle of the stamping process is the shortest as an optimization target, a trajectory optimization mathematical model is established based on the constraint conditions of the driving force, the driving speed and the process process of the robot, The optimal trajectory of each joint single-cycle running time is obtained by using the dichotomy, and the joint trajectory is simulated with the ADAMS software. Finally, the experiment of trajectory optimization is carried out in the experiment platform controlled by PLC, and the working efficiency of the robot is analyzed. The research shows that by the time optimization of the robot motion process, the efficiency of the robot in the stamping production can be further improved, the single cycle time optimal trajectory planning method adopted by the paper is simple, the robot control effect is good, And has the advantages of being popularized and applied in the automatic production of the stamping.
【学位授予单位】：武汉纺织大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
[Abstract]:With the development of the industrial automation, the labor-intensive manufacturing industry has started to carry out the industrial structural adjustment and upgrade, and gradually realized the robot to replace the manual production operation. The paper selects the production of small and medium-sized stamping enterprises as the background, analyzes the characteristics and requirements of the automatic production of the stamping, and takes the 4-axis serial industrial robot as the research object to improve the efficiency of the stamping production, and combines the theoretical knowledge of the kinematics and dynamics of the robot. The study of trajectory planning based on time-optimal is carried out under the constraint conditions. Based on the review of the technology of punching automation and the technology of industrial robot, this paper, from the process of single-process production and on-site conditions of single-process, is combined with the application of industrial robot. The stamping production of single-unit single-process is analyzed in detail. In combination with the theory of the robot, the D-H method is adopted to establish a connecting-rod coordinate system for a four-axis robot, and the joint transformation matrix and the kinematic equation are listed. The dynamics of the robot is studied by the Newton-Euler method, and the dynamic model of the robot is established. then, aiming at the automatic loading and unloading process of the robot, the joint displacement track is fitted by using a five-time polynomial interpolation method, the operation time of the single cycle of the stamping process is the shortest as an optimization target, a trajectory optimization mathematical model is established based on the constraint conditions of the driving force, the driving speed and the process process of the robot, The optimal trajectory of each joint single-cycle running time is obtained by using the dichotomy, and the joint trajectory is simulated with the ADAMS software. Finally, the experiment of trajectory optimization is carried out in the experiment platform controlled by PLC, and the working efficiency of the robot is analyzed. The research shows that by the time optimization of the robot motion process, the efficiency of the robot in the stamping production can be further improved, the single cycle time optimal trajectory planning method adopted by the paper is simple, the robot control effect is good, And has the advantages of being popularized and applied in the automatic production of the stamping.
【学位授予单位】：武汉纺织大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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