本文選題：4R機(jī)械手　切入點(diǎn)：運(yùn)動(dòng)學(xué)分析　出處：《沈陽工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來,科技發(fā)展大步向前,在工業(yè)生產(chǎn)中,工業(yè)機(jī)器人的應(yīng)用越來越多,尤其是在自動(dòng)化物流生產(chǎn)線上,多關(guān)節(jié)型機(jī)器人的應(yīng)用最為普遍。本文以4R上下料機(jī)械手為研究對(duì)象,求解其最優(yōu)機(jī)構(gòu)參數(shù)。主本文主要包括了以下幾個(gè)方面的內(nèi)容:首先,介紹了本課題的研究背景、目的和意義,國內(nèi)外工業(yè)機(jī)器人的發(fā)展現(xiàn)狀,以及運(yùn)動(dòng)學(xué)分析、軌跡規(guī)劃和參數(shù)優(yōu)化的研究現(xiàn)狀,為本文研究打下基礎(chǔ)。根據(jù)實(shí)際生產(chǎn)要求,對(duì)上下料機(jī)械手進(jìn)行選型,確定其基本結(jié)構(gòu)和作業(yè)任務(wù)。其次,根據(jù)上下料機(jī)械手的工作原理,運(yùn)用D-H方法建立了機(jī)械手的運(yùn)動(dòng)學(xué)方程,并驗(yàn)證其正確性。用反變換法對(duì)其進(jìn)行了運(yùn)動(dòng)學(xué)逆解的求解,在此基礎(chǔ)上,討論了機(jī)械手運(yùn)動(dòng)學(xué)逆解的選擇原則。再次,介紹了幾種典型的軌跡規(guī)劃方法。根據(jù)運(yùn)動(dòng)學(xué)逆解及機(jī)械手末端執(zhí)行器的姿態(tài),計(jì)算出機(jī)械手在關(guān)鍵位置點(diǎn)的關(guān)節(jié)角度,然后依據(jù)關(guān)節(jié)在關(guān)鍵點(diǎn)的速度約束和時(shí)間分配,采用三次多項(xiàng)式插值方法對(duì)機(jī)械手的上料運(yùn)動(dòng)進(jìn)行了軌跡規(guī)劃。隨后,根據(jù)機(jī)械手的運(yùn)動(dòng)軌跡及已知的機(jī)構(gòu)參數(shù),提出了以機(jī)械手運(yùn)動(dòng)“行程最短”為目標(biāo)函數(shù)的方法,使得整個(gè)機(jī)器人系統(tǒng)耗費(fèi)能量最小。運(yùn)動(dòng)學(xué)分析得到的關(guān)于機(jī)構(gòu)參數(shù)的數(shù)學(xué)模型和機(jī)構(gòu)參數(shù)的合理取值范圍作為約束條件,在機(jī)械手上料過程中的關(guān)鍵位置點(diǎn)處和運(yùn)動(dòng)軌跡上對(duì)機(jī)械手進(jìn)行最優(yōu)機(jī)構(gòu)參數(shù)的求解。最后,利用MATLAB軟件驗(yàn)證所規(guī)劃軌跡的正確性,并對(duì)求解機(jī)構(gòu)參數(shù)最優(yōu)解前后的機(jī)械手上料運(yùn)動(dòng)軌跡進(jìn)行仿真,得到在同一坐標(biāo)系下二者軌跡的誤差,并分析誤差的合理性。結(jié)果表明,求解的最優(yōu)機(jī)構(gòu)參數(shù)是有效的,對(duì)優(yōu)化機(jī)械手結(jié)構(gòu)設(shè)計(jì)有重要參考價(jià)值。
[Abstract]:In recent years, with the development of science and technology, more and more industrial robots have been applied in industrial production, especially in the automatic logistics production line. The application of multi-joint robot is the most common. In this paper, 4R upper and lower manipulator is taken as the research object to solve the optimal mechanism parameters. The main content of this paper mainly includes the following aspects: firstly, the research background of this subject is introduced. The purpose and significance, the development status of industrial robot at home and abroad, and the research status of kinematics analysis, trajectory planning and parameter optimization, lay a foundation for the research of this paper. According to the actual production requirements, the type selection of loading and unloading manipulator is carried out. Secondly, according to the working principle of the upper and lower manipulator, the kinematics equation of the manipulator is established by using D-H method, and its correctness is verified. The inverse transformation method is used to solve the inverse kinematics solution of the manipulator. On this basis, the selection principle of kinematics inverse solution of manipulator is discussed. Thirdly, several typical trajectory planning methods are introduced. The joint angle of the manipulator at the key position is calculated, and then according to the speed constraint and time allocation of the joint at the key point, the cubic polynomial interpolation method is used to plan the trajectory of the manipulator's feeding motion. According to the motion track of the manipulator and the known mechanism parameters, the method of taking the "shortest stroke" of the manipulator as the objective function is proposed. The kinematics analysis results in the mathematical model of the mechanism parameters and the reasonable range of the mechanism parameters as the constraint conditions. The optimal mechanism parameters of the manipulator are solved at the key position and motion track during the feeding process of the manipulator. Finally, the correctness of the planned trajectory is verified by using MATLAB software. The error of the two trajectories before and after solving the optimal solution of the mechanism parameters is simulated, and the rationality of the errors is analyzed. The results show that the optimal mechanism parameters are effective. It has important reference value for optimizing the structure design of manipulator.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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