本文選題：SCARA機(jī)器人 + 平面關(guān)節(jié)機(jī)器人　； 參考：《天津工業(yè)大學(xué)》2017年碩士論文

【摘要】：近年來(lái)引領(lǐng)全球制造業(yè)全新變革的技術(shù),3D打印技術(shù)迅速發(fā)展,徹底影響了制造業(yè)的生產(chǎn)方式,已在工業(yè)生產(chǎn)及人們生活中得到廣泛應(yīng)用。但是,目前的3D打印機(jī)大多采用龍門式框架結(jié)構(gòu),設(shè)備體積較大,不方便攜帶。SCARA機(jī)器人,即平面關(guān)節(jié)型機(jī)器人,由于其具有體積小、傳動(dòng)原理簡(jiǎn)單、平面內(nèi)運(yùn)動(dòng)柔性強(qiáng)等特點(diǎn),應(yīng)用于3D打印技術(shù)中,將使3D打印技術(shù)實(shí)現(xiàn)便攜式,具有較高的學(xué)術(shù)和實(shí)用價(jià)值。本文根據(jù)平面關(guān)節(jié)型SCARA機(jī)器人的技術(shù),采用模塊化設(shè)計(jì)理念,設(shè)計(jì)了 SCARA手臂式3D打印機(jī)。首先,針對(duì)3D打印的工作需求,完成了手臂式3D打印機(jī)的整體結(jié)構(gòu)設(shè)計(jì)方案,包括各個(gè)機(jī)械臂的結(jié)構(gòu)組成和傳動(dòng)系統(tǒng)。利用Solidworks軟件設(shè)計(jì)出了機(jī)器人的結(jié)構(gòu),選擇同步帶進(jìn)行動(dòng)力的傳輸,初步完成機(jī)械系統(tǒng)的設(shè)計(jì)。并對(duì)3D打印機(jī)上位機(jī)控制軟件repetier-host進(jìn)行了介紹。其次,對(duì)SCARA平面關(guān)節(jié)型機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)分析,建立平面關(guān)節(jié)型機(jī)器人的運(yùn)動(dòng)學(xué)模型,運(yùn)用D-H法對(duì)模型進(jìn)行運(yùn)動(dòng)學(xué)分析,推導(dǎo)出正逆運(yùn)動(dòng)學(xué)變換公式。選擇合適的軌跡規(guī)劃方法,通過(guò)調(diào)整位移、速度、加速度使手臂各關(guān)節(jié)位置變化連續(xù)、平滑、運(yùn)動(dòng)平穩(wěn),并能達(dá)到精度要求。再次,設(shè)計(jì)3D打印機(jī)的運(yùn)動(dòng)控制系統(tǒng),選擇高性能的微控制器作為控制系統(tǒng)主芯片,通過(guò)合適的算法程序?qū)?D打印機(jī)的運(yùn)動(dòng)系統(tǒng)和加熱系統(tǒng)進(jìn)行更加精確的控制,以實(shí)現(xiàn)手臂式3D打印機(jī)的整體控制。最后,通過(guò)整機(jī)測(cè)試,完善SCARA手臂式3D打印機(jī)的各項(xiàng)功能,總結(jié)SCARA平面關(guān)節(jié)型機(jī)器人在3D打印領(lǐng)域的重要作用,以及對(duì)SCARA手臂式3D打印機(jī)的發(fā)展趨勢(shì)進(jìn)行展望。
[Abstract]:In recent years, the technology of 3D printing, which has led the new revolution of global manufacturing industry, has developed rapidly, which has completely influenced the production mode of manufacturing industry, and has been widely used in industrial production and people's daily life. However, at present, most 3D printers use gantry frame structure, the equipment is large, and it is not convenient to carry .SCARA robot, that is, planar joint robot, because of its small volume, simple transmission principle, strong flexibility of in-plane motion and so on. Application in 3D printing technology will make 3D printing technology portable and has high academic and practical value. According to the technology of planar joint SCARA robot, a SCARA arm 3D printer is designed in this paper. Firstly, according to the requirement of 3D printing, the whole structure design of arm 3D printer is completed, including the structure composition and transmission system of each manipulator. The structure of the robot is designed by using Solidworks software, and the synchronous belt is selected for power transmission, and the design of the mechanical system is preliminarily completed. The control software repetier-host of 3 D printer is introduced. Secondly, the kinematics analysis of SCARA planar joint robot is carried out, and the kinematics model of planar joint robot is established. The kinematics analysis of the model is carried out by using D-H method, and the forward and inverse kinematics transformation formula is deduced. By adjusting displacement, velocity and acceleration, the position of each joint of the arm can be changed continuously, smoothly, smoothly and smoothly, and the precision can be achieved. Thirdly, the motion control system of 3D printer is designed, the high performance microcontroller is selected as the main chip of the control system, and the motion system and heating system of 3D printer are controlled more accurately by appropriate algorithm program. In order to achieve the arm-type 3D printer overall control. Finally, the functions of SCARA arm 3D printer are improved through the whole machine test, the important role of SCARA planar joint robot in 3D printing field is summarized, and the development trend of SCARA arm 3D printer is prospected.
【學(xué)位授予單位】：天津工業(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;TP334.8

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