本文選題：4-DOF混聯(lián)碼垛機(jī)器人　切入點(diǎn)：運(yùn)動(dòng)學(xué)　出處：《南京理工大學(xué)》2012年碩士論文

【摘要】：近年來(lái)使用于自動(dòng)化生產(chǎn)線上的由串并聯(lián)機(jī)構(gòu)組成的混聯(lián)機(jī)器人的開發(fā)及應(yīng)用是機(jī)械加工業(yè)的發(fā)展趨勢(shì),本文對(duì)4-DOF混聯(lián)碼垛機(jī)器人進(jìn)行的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)分析及參數(shù)化優(yōu)化設(shè)計(jì),對(duì)機(jī)器人的控制具有重要的理論意義和實(shí)用價(jià)值。 本文結(jié)合齊次坐標(biāo)變換矩陣和D-H法對(duì)碼垛機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)求解,獲得了所有關(guān)節(jié)的位置正反解析解,運(yùn)用運(yùn)動(dòng)影響系數(shù)矩陣對(duì)碼垛機(jī)器人進(jìn)行了速度和加速度分析,得到了簡(jiǎn)潔明了的速度和加速度表達(dá)式。對(duì)碼垛機(jī)器人進(jìn)行結(jié)構(gòu)簡(jiǎn)化,并將簡(jiǎn)化后的結(jié)構(gòu)拆分為左支鏈和右支鏈,運(yùn)用凱恩法推導(dǎo)出其動(dòng)力學(xué)方程模型。然后在Pro/E環(huán)境下建模并進(jìn)行虛擬裝配得到機(jī)器人的總體結(jié)構(gòu)模型,導(dǎo)入ADAMS環(huán)境下對(duì)該機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)仿真分析,得到機(jī)器人末端位置的位移、速度和加速度曲線圖,并將仿真分析得到的結(jié)果與理論計(jì)算的結(jié)果進(jìn)行比較,通過(guò)仿真分析驗(yàn)證了理論計(jì)算的正確性,為該機(jī)器人的動(dòng)力學(xué)研究及參數(shù)化優(yōu)化設(shè)計(jì)提供了可靠基礎(chǔ)。 最后,在ADAMS/View環(huán)境下建立碼垛機(jī)器人參數(shù)化模型,選擇設(shè)計(jì)變量,設(shè)定變量的變化范圍,確定優(yōu)化目標(biāo),應(yīng)用ADAMS/View自帶的強(qiáng)大設(shè)計(jì)研究和優(yōu)化設(shè)計(jì)功能模塊,對(duì)模型進(jìn)行參數(shù)化優(yōu)化設(shè)計(jì),最終得到一組設(shè)計(jì)變量值使得碼垛機(jī)器人的動(dòng)力學(xué)性能最優(yōu)。
[Abstract]:In recent years, the development and application of hybrid robot composed of series-parallel mechanism used in automatic production line is the development trend of mechanical processing industry. The kinematics of 4-DOF hybrid palletizing robot is discussed in this paper.Dynamic analysis and parametric optimization design have important theoretical significance and practical value for robot control.In this paper, the kinematics of the palletizing robot is solved by using the homogeneous coordinate transformation matrix and D-H method. The forward and inverse analytical solutions of all joints are obtained, and the velocity and acceleration of the palletizing robot are analyzed by using the motion influence coefficient matrix.A concise expression of velocity and acceleration is obtained.The structure of the palletizing robot is simplified, and the simplified structure is divided into left and right branching chains. The Kane method is used to deduce its dynamic equation model.Then modeling and virtual assembly in Pro/E environment to get the overall structure model of the robot, then the kinematics simulation analysis of the robot under the ADAMS environment is carried out, and the displacement, velocity and acceleration curves of the robot end position are obtained.The results obtained from simulation analysis are compared with the results of theoretical calculation, and the correctness of the theoretical calculation is verified by simulation analysis, which provides a reliable basis for the dynamics research and parametric optimization design of the robot.Finally, the parameterized model of palletizing robot is established in ADAMS/View environment, the design variables are selected, the range of variables is set up, the optimization goal is determined, and the powerful design research and optimization design function module of ADAMS/View is used.Finally, a set of design variables is obtained to optimize the dynamic performance of the palletizing robot.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH246;TP242

【引證文獻(xiàn)】

相關(guān)期刊論文 前1條

1 劉飛飛;林飛;;廢石手選機(jī)器人的動(dòng)力學(xué)研究[J];礦山機(jī)械;2013年04期

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本文編號(hào)：1723553