本文關(guān)鍵詞： 復(fù)合材料 關(guān)節(jié)型機(jī)械手 運(yùn)動(dòng)仿真 有限元分析　出處：《武漢理工大學(xué)》2013年碩士論文　論文類型：學(xué)位論文

【摘要】：復(fù)合材料經(jīng)過多年的發(fā)展,廣泛應(yīng)用于航空、航天、汽車制造、化學(xué)工業(yè)、醫(yī)療等許多領(lǐng)域,針對應(yīng)用于不同領(lǐng)域的各種復(fù)合材料,發(fā)展出了各種不同的加工工藝。隨著復(fù)合材料產(chǎn)品的使用范圍愈加廣闊,為了提高產(chǎn)品的生產(chǎn)效率和質(zhì)量,復(fù)合材料的自動(dòng)化加工技術(shù)也隨之產(chǎn)生并逐漸發(fā)展成熟。 機(jī)械手歷經(jīng)近50年的發(fā)展,成為了制造業(yè)生產(chǎn)自動(dòng)化中十分重要的機(jī)電設(shè)備,前景光明。首先,伴隨現(xiàn)代控制技術(shù)的發(fā)展,機(jī)械手重復(fù)精度提高,其定位準(zhǔn)確性得到增強(qiáng)。其次,機(jī)械手可具有重構(gòu)化、模塊化的機(jī)械結(jié)構(gòu),根據(jù)實(shí)際需要拼裝,實(shí)現(xiàn)所對應(yīng)的功能。再者,隨著機(jī)電一體化技術(shù)的發(fā)展,由“可編程控制器、傳感器、動(dòng)作元件”組成的典型的自動(dòng)化控制系統(tǒng)依然會是主流發(fā)展方向,在此系統(tǒng)中,傳統(tǒng)的開關(guān)控制也將轉(zhuǎn)變?yōu)榉答伩刂?從而進(jìn)一步提升系統(tǒng)的精度。 本論文的研究重點(diǎn)是碳纖維復(fù)合材料加工的機(jī)械手設(shè)計(jì),機(jī)械手臂在復(fù)合材料加工中的應(yīng)用,是近些年發(fā)展起來的復(fù)合材料自動(dòng)化成型制造技術(shù)之一。包括超聲波切割,超聲波磨削等。超聲波切割具有切口光滑、牢靠,切邊準(zhǔn)確,’不會變形,不翹邊、起毛、抽絲、皺折等優(yōu)點(diǎn),應(yīng)用于復(fù)合材料加工領(lǐng)域可解決加工過程中的粉塵問題,保證施工人員健康和設(shè)備正常運(yùn)轉(zhuǎn)。復(fù)合材料加工裝備中機(jī)械手臂的智能化在復(fù)合材料后續(xù)加工技術(shù)中發(fā)揮著重要的作用。因此,為了滿足我國航空航天工業(yè)對復(fù)合材料構(gòu)件制造的需求,研究開發(fā)具有我國白主知識產(chǎn)權(quán)的復(fù)合材料切割機(jī)械手臀是非常必要的,也是急需解決的課題。 本文結(jié)合相關(guān)項(xiàng)目的要求,設(shè)計(jì)出一種能夠?qū)崿F(xiàn)空間復(fù)雜軌跡運(yùn)動(dòng)的多自由度關(guān)節(jié)型機(jī)械手,提出多個(gè)結(jié)構(gòu)方案并進(jìn)行對比最終確定,并根據(jù)實(shí)際工作要求確定機(jī)械手具體尺寸及各部件選型,最終完成結(jié)構(gòu)設(shè)計(jì)。之后利用Pro/ENGINEER軟件進(jìn)行機(jī)械手三維建模,并對裝配模型進(jìn)行運(yùn)動(dòng)仿真,模擬機(jī)械手空載和加工簡單曲面的運(yùn)動(dòng)情況。之后利用有限元分析軟件ANSYS對機(jī)械手的大臂和小臂進(jìn)行了結(jié)構(gòu)靜力學(xué)分析和模態(tài)分析,得出分析結(jié)果以確保機(jī)構(gòu)運(yùn)動(dòng)過程中的安全性和穩(wěn)定性。
[Abstract]:After years of development, composite materials have been widely used in many fields, such as aviation, aerospace, automobile manufacturing, chemical industry, medical treatment and so on. With the wide use of composite materials, in order to improve the production efficiency and quality of composite materials, the automatic processing technology of composite materials has come into being and developed gradually. After nearly 50 years of development, the manipulator has become a very important mechanical and electrical equipment in manufacturing automation, and the prospects are bright. First, with the development of modern control technology, the manipulator repetition accuracy is improved. Second, the manipulator can have a reconfigurable, modular mechanical structure, which can be assembled according to the actual needs to achieve the corresponding functions. Furthermore, with the development of the mechatronics technology, by the programmable controller, The typical automatic control system composed of sensors and action elements will still be the mainstream development direction. In this system, the traditional switch control will also be changed into feedback control, thus further improving the accuracy of the system. The research focus of this paper is on the design of manipulator in carbon fiber composite processing, and the application of mechanical arm in composite material processing, which is one of the technologies developed in recent years for automatic molding of composite materials, including ultrasonic cutting. Ultrasonic grinding, etc. Ultrasonic cutting has the advantages of smooth cut, solid cutting, accurate edge cutting, no deformation, no edging, hair raising, drawing, wrinkling and so on. It can be used in the field of composite material processing to solve the dust problem in the process of processing. To ensure the health of the construction personnel and the normal operation of the equipment. The intellectualization of the mechanical arm in the composite material processing equipment plays an important role in the composite material follow-up processing technology. In order to meet the requirement of composite component manufacturing in China's aerospace industry, it is necessary to research and develop a composite cutting manipulator with intellectual property rights in China, which is also an urgent problem to be solved. According to the requirements of related projects, this paper designs a kind of multi-degree of freedom joint manipulator which can realize the movement of complex trajectory in space, and puts forward several structural schemes and makes comparison and final determination. According to the actual work requirements, the specific size of the manipulator and the selection of the components are determined, and the final structural design is completed. Then, the three-dimensional modeling of the manipulator is carried out by using Pro/ENGINEER software, and the motion simulation of the assembly model is carried out. The motion of manipulator with no load and simple curved surface is simulated. Then the structural static analysis and modal analysis of the manipulator's arm and forearm are carried out by using the finite element analysis software ANSYS. The results are obtained to ensure the safety and stability of the mechanism.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TP241

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