基于联合仿真技术对类SCARA机器人的分析与优化设计

发布时间：2018-05-13 05:42

本文选题：并联机器人 + ADAMS　；参考：《河北工业大学》2015年硕士论文

【摘要】：本文在分析了硅片传输机器人技术与设备基础上,提出一种三自由度的支链嵌套可连续回转并联机器人来进行联合仿真分析并对其主要构件的几何尺寸进行优化设计。在机构构型之后需要对动平台上的各种运动学和动力学参数进行分析,此外还需要对并联机器人的空间结构进行分析。在综合了以上内容之后本论文主要研究内容如下;(1)了解每个伺服电机需要驱动的部件以及它们之间的运动关系。重点研究与动平台相连的几个重要部件。它类似于一种曲柄滑块机构,对它的位移和速度等参数进行计算为后续的工作打好基础。(2)根据得出的伺服电机关于时间的转速曲线来确定联合仿真所需要用到的参数。将三个电机的角位移作为输入,末端机械手三个自由度的位移作为系统的输出,在Simulink中通过之前得出的运动学微分方程来搭建控制平台来实现机械软件和控制软件的联合仿真分析。并且通过改变系统的输入就可以在ADAMS中看到样机运动效果的变化。(3)由于动平台的运动速度和精度完全取决于曲柄和连杆的几何尺寸,所以需要对几个主要构件的长度进行优化设计,目的是为了使动平台能够在最短的时间里到达最精确的位置。借助ADAMS软件确定设计变量,目标函数,约束函数等一系列准备工作后,可以计算出几个连杆在取何等长度是对动平台最为有力的,从而对机构完成优化设计。
[Abstract]:Based on the analysis of the technology and equipment of silicon wafer transmission robot, this paper presents a three-degree-of-freedom branch chain nested continuous rotary parallel robot for joint simulation analysis and optimization design of the geometric dimensions of its main components. After the configuration of the mechanism, the kinematics and dynamics parameters on the moving platform are analyzed, and the spatial structure of the parallel robot is also analyzed. The main contents of this paper are as follows: 1) to understand the driving components of each servo motor and their motion relationship. Several important parts connected with the moving platform are studied emphatically. It is similar to a kind of crank and slider mechanism. The parameters such as displacement and velocity are calculated to lay a good foundation for the subsequent work. The parameters used in the joint simulation are determined according to the speed curve of the servo motor about time. The angular displacement of the three motors is taken as the input, and the displacement of the three degrees of freedom of the end manipulator is taken as the output of the system. Through the kinematic differential equation obtained in Simulink, the control platform is built to realize the joint simulation and analysis of mechanical software and control software. And by changing the input of the system, we can see the change of the motion effect of the prototype in ADAMS. (3) because the moving speed and precision of the moving platform depend entirely on the geometric dimensions of the crank and the connecting rod, So it is necessary to optimize the length of several main components in order to make the moving platform reach the most accurate position in the shortest time. With the help of ADAMS software to determine the design variables, objective functions, constraint functions and other preparatory work, we can calculate which length of several connecting rods is the most effective to the moving platform, so as to complete the optimal design of the mechanism.
【学位授予单位】：河北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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