本文關(guān)鍵詞： 噴涂機(jī)器人 逆運(yùn)動(dòng)學(xué) 阻尼最小二乘法 消元法 機(jī)器人仿真　出處：《華中科技大學(xué)》2013年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：制造業(yè)尤其是汽車(chē)行業(yè)的迅速發(fā)展對(duì)噴涂機(jī)器人的需求越來(lái)越強(qiáng)烈，研發(fā)具有自主知識(shí)產(chǎn)權(quán)的國(guó)產(chǎn)化噴涂機(jī)器人成套裝備，已成為我國(guó)工業(yè)發(fā)展的迫切需要。在機(jī)器人的設(shè)計(jì)開(kāi)發(fā)及性能優(yōu)化中，機(jī)器人運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)分析與仿真是一項(xiàng)基礎(chǔ)的工作。具有空心手腕結(jié)構(gòu)的噴涂機(jī)器人后三個(gè)關(guān)節(jié)軸偏置，其逆運(yùn)動(dòng)學(xué)一般不存在封閉解。建立機(jī)器人逆運(yùn)動(dòng)學(xué)有效求解模型，是噴涂機(jī)器人開(kāi)發(fā)的基本問(wèn)題。 本文針對(duì)所研制的噴涂機(jī)器人，采用連桿坐標(biāo)系的D-H建模方法，推導(dǎo)了噴涂機(jī)器人的運(yùn)動(dòng)學(xué)模型。采用蒙特卡羅仿真方法，分析了噴涂機(jī)器人的工作空間，根據(jù)國(guó)家標(biāo)準(zhǔn)對(duì)工作空間進(jìn)行了規(guī)范表達(dá)。推導(dǎo)了噴涂機(jī)器人的雅克比矩陣及其行列式，，并研究了機(jī)器人的靈巧性指標(biāo)，提出了第二條件數(shù)的概念，實(shí)現(xiàn)了機(jī)器人的奇異性分析。采用牛頓-歐拉遞推方法推導(dǎo)了機(jī)器人的動(dòng)力學(xué)模型，實(shí)現(xiàn)了機(jī)器人笛卡爾空間的軌跡規(guī)劃，分別為直線(xiàn)規(guī)劃和圓弧規(guī)劃。 本文重點(diǎn)研究了噴涂機(jī)器人逆運(yùn)動(dòng)學(xué)的求解方法，主要包括迭代法和消元法。通過(guò)對(duì)奇異位置的特殊處理和阻尼因子的自適應(yīng)調(diào)整，改進(jìn)了阻尼最小二乘DLS法；在Manocha消元法的基礎(chǔ)上，通過(guò)矩陣拆分和符號(hào)運(yùn)算預(yù)處理等技術(shù)，提高了消元法的性能，實(shí)現(xiàn)了算法的實(shí)時(shí)性。逆運(yùn)動(dòng)學(xué)算法在實(shí)際應(yīng)用中取得了良好的效果。 最后，對(duì)機(jī)器人的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)、軌跡規(guī)劃等知識(shí)進(jìn)行了整合，根據(jù)軟件設(shè)計(jì)的基本思想和技術(shù)手段，結(jié)合大型仿真軟件的功能架構(gòu)，采用C++為編程語(yǔ)言，MFC搭建軟件主框架，開(kāi)發(fā)了機(jī)器人仿真軟件，為噴涂機(jī)器人設(shè)計(jì)與性能分析提供了一個(gè)仿真平臺(tái)。
[Abstract]:With the rapid development of the manufacturing industry, especially the automobile industry, the demand for spray robot is more and more strong. Robot kinematics has become an urgent need of industrial development in China. In the design, development and performance optimization of robots, robot kinematics. Dynamic analysis and simulation is a basic work. The inverse kinematics of the sprayed robot with hollow wrist structure is usually not closed when the rear three joint axes are biased. The effective solution model of robot inverse kinematics is established. It is the basic problem of spray robot development. In this paper, the kinematics model of spray robot is derived by D-H modeling method of connecting rod coordinate system, and Monte Carlo simulation method is used. The workspace of spraying robot is analyzed, and the workspace is expressed according to the national standard. The Jacobian matrix and its determinant are derived, and the dexterity index of the robot is studied. In this paper, the concept of the second part number is proposed, and the singularity analysis of the robot is realized. The dynamic model of the robot is derived by using Newton-Euler recursive method, and the trajectory planning of the robot in Cartesian space is realized. Linear programming and arc programming are respectively. In this paper, the inverse kinematics method of spray robot is studied, including iterative method and elimination method, through special processing of singular position and adaptive adjustment of damping factor. The damped least square DLS method is improved. Based on the Manocha elimination method, the performance of the elimination method is improved by matrix splitting and symbol preprocessing. The inverse kinematics algorithm has achieved good results in practical application. Finally, the robot kinematics, dynamics, trajectory planning and other knowledge integration, according to the basic idea of software design and technical means, combined with the functional framework of large-scale simulation software. The main frame of the software is built with C # as the programming language MFC, and the robot simulation software is developed, which provides a simulation platform for the design and performance analysis of the spraying robot.
【學(xué)位授予單位】：華中科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：TP242

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