基于虚拟样机技术的协作机器人运动学与动力学研究

发布时间：2018-07-14 22:07

【摘要】：“智能工厂”、“无人工厂”在工业4.0时代成为大热之词,并被认为是自动化的最高境界。随着国务院在2015年5月公布的《中国制造2025》规划将工业机器人列为十大重点发展领域之一。从传统工业机器人到协作机器人,这是工业机器人发展过程中的一次重大突破。本文采用虚拟样机技术,分析研究六自由度协作机器人的运动学、动力学和轨迹规划问题,设计了PD+G的控制模型,并进行联合控制仿真,这对协作机器人的设计及力控研究具有重要的使用和参考价值。本课题的主要研究内容如下:(1)本文以遨博(北京)智能科技有限公司的OUR-i5轻型协作机器人为研究对象,利用SOLIDWORKS软件完成该协作机器人零部件模块化建模和物理参数提取,并将该协作机器人的总体模型导入到ADAMS软件中,构建虚拟样机模型。根据协作机器人结构参数和特点,采用改进的Denavit-Hartenberg(D-H)法对其进行数学建模,分析研究协作机器人正运动学和逆运动学问题,在ADAMS软件中对该协作机器人进行运动学仿真,并使用MATLAB软件编写了运动学计算算法。通过运动学分析,详细研究了该协作机器人的雅克比矩阵及其作用。(2)采用拉格朗日动力学方法推导该协作机器人动力学数学模型,并运用MATLAB软件编写了该协作机器人动力学计算算法。为该机器人动力学研究打下了基础。(3)在运动学分析的基础上,采用三项多项式插值法、五项多项式插值法和直线插补法等方法分别对协作机器人进行关节空间轨迹规划和笛卡尔空间轨迹规划。使用MATLAB的工具箱Robotic toolbox进行编程,模拟协作机器人运动过程,并绘制作业轨迹,直观的验证了该轨迹规划法的可行性和有效性。(4)通过ADAMS软件导出Controls模块,结合推导的动力学数学模型,在SIMULINK中建立PD+G的控制模型并进行联合仿真分析,为该机器人力控系统的研究奠定了真实可靠的基础。
[Abstract]:"Smart Factory", "Unmanned Factory" in the industrial 4.0 era has become a hot word, and is considered the highest level of automation. With the State Council's "made in China 2025" plan published in May 2015, industrial robots are listed as one of the top ten key areas of development. From traditional industrial robot to cooperative robot, this is an important breakthrough in the development of industrial robot. In this paper, the kinematics, dynamics and trajectory planning of a six-degree-of-freedom cooperative robot are analyzed and studied by using virtual prototyping technology. The control model of PDG is designed, and the joint control simulation is carried out. It has important use and reference value for the design of cooperative robot and the research of force control. The main contents of this paper are as follows: (1) this paper takes OUR-i5 light cooperative robot of Beijing Intelligent Science and Technology Co., Ltd. as the research object, and completes the modular modeling and physical parameter extraction of the components of the collaboration robot by using SOLIDWORKS software. The overall model of the cooperative robot is imported into Adams software to construct the virtual prototype model. According to the structural parameters and characteristics of the cooperative robot, the improved Denavit-Hartenberg (D-H) method is used to model the cooperative robot. The forward kinematics and inverse kinematics of the cooperative robot are analyzed and studied. The kinematics simulation of the cooperative robot is carried out in Adams software. The kinematics calculation algorithm is programmed by MATLAB software. Through kinematics analysis, the Jacobian matrix and its action of the cooperative robot are studied in detail. (2) the dynamic mathematical model of the cooperative robot is derived by using Lagrange dynamics method. The dynamic calculation algorithm of the cooperative robot is programmed by MATLAB software. It lays a foundation for the dynamics research of the robot. (3) on the basis of kinematics analysis, the cubic polynomial interpolation method is used. The joint space trajectory planning and Descartes space trajectory planning are carried out by five polynomial interpolation method and linear interpolation method respectively. Using the toolbox of MATLAB Robotic toolbox to program, simulate the motion process of the cooperative robot, draw the track of the work, and intuitively verify the feasibility and effectiveness of the trajectory planning method. (4) the controls module is derived by Adams software. Combined with the derived dynamic mathematical model, the PDG control model is established in Simulink and the joint simulation analysis is carried out, which lays a true and reliable foundation for the research of the machine's human control system.
【学位授予单位】：山东农业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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