發(fā)布時(shí)間：2018-12-13 11:34

【摘要】：近十年來(lái),我國(guó)的自動(dòng)化技術(shù)取得了飛速的發(fā)展,但與國(guó)外相比還存在著很大的差距。同時(shí),在國(guó)內(nèi)也存在著發(fā)展不均衡的現(xiàn)狀,在一些中小城市自動(dòng)化技術(shù)還有待于進(jìn)一步提高。 在貨物存取系統(tǒng)中,機(jī)械手由于靈活性比較高,適合小批量生產(chǎn),得到了廣泛的應(yīng)用,這就為機(jī)械手的發(fā)展提供了有利的條件,但采用機(jī)械手進(jìn)行搬運(yùn)存在很多問(wèn)題。例如：對(duì)一些體積、質(zhì)量比較大的物體無(wú)法實(shí)現(xiàn)搬運(yùn),即使能夠進(jìn)行移動(dòng),工作空間也受到很大的限制,無(wú)法實(shí)現(xiàn)大空間的移動(dòng)等,嚴(yán)重影響企業(yè)生產(chǎn)效率。 本文主要是針對(duì)威海市明珠硅膠有限公司的現(xiàn)狀,生產(chǎn)一種自動(dòng)搬運(yùn)裝置,提高企業(yè)的生產(chǎn)效率。首先對(duì)硅膠托盤裝料系統(tǒng)方案進(jìn)行研究。 并聯(lián)機(jī)構(gòu)則具有結(jié)構(gòu)穩(wěn)定,動(dòng)態(tài)性能好,精度高,適應(yīng)性強(qiáng),通用性、模塊化程度高,可實(shí)現(xiàn)復(fù)雜構(gòu)件空間結(jié)構(gòu)的加工,運(yùn)動(dòng)十分靈活等優(yōu)點(diǎn)。尤其是三自由度三平移并聯(lián)機(jī)構(gòu),不僅結(jié)構(gòu)簡(jiǎn)單、驅(qū)動(dòng)元件少、造價(jià)低,運(yùn)動(dòng)平穩(wěn),而且具有速度高、動(dòng)力性能好、剛度大的優(yōu)點(diǎn),適合于硅膠托盤搬運(yùn)等對(duì)運(yùn)動(dòng)平穩(wěn)性要求比較高的場(chǎng)合。 本文通過(guò)對(duì)三平移并聯(lián)機(jī)構(gòu)類型進(jìn)行綜合分析,最終選擇RPC三平移并聯(lián)機(jī)構(gòu)作為搬運(yùn)裝置,并對(duì)其工作空間、運(yùn)動(dòng)正反解、運(yùn)動(dòng)路徑進(jìn)行分析研究。利用ADAMS對(duì)機(jī)械手搬運(yùn)與RPC三平移并聯(lián)機(jī)構(gòu)搬運(yùn)進(jìn)行運(yùn)動(dòng)學(xué)分析與仿真,對(duì)它們的綜合性能進(jìn)行比較分析,確定一種最適合硅膠托盤搬運(yùn)的方式。 應(yīng)用UG、MATLAB和ADAMS把建模、運(yùn)動(dòng)學(xué)分析與參數(shù)化設(shè)計(jì)等有機(jī)地結(jié)合起來(lái),大大簡(jiǎn)化了機(jī)械產(chǎn)品的設(shè)計(jì)開(kāi)發(fā)過(guò)程,提高了工作效率,為硅膠托盤搬運(yùn)物理樣機(jī)的制造和控制奠定了良好的基礎(chǔ)。
[Abstract]:In recent ten years, China's automation technology has made rapid development, but compared with foreign countries, there is still a big gap. At the same time, there is an uneven development in China, and automation technology needs to be further improved in some small and medium-sized cities. In the cargo access system, the manipulator has been widely used because of its high flexibility, suitable for small batch production, which provides favorable conditions for the development of the manipulator. However, there are many problems in handling the manipulator. For example, some objects with large volume and mass can not be transported, even if they can be moved, the workspace is restricted greatly, and the movement of large space can not be realized, which seriously affects the production efficiency of enterprises. According to the present situation of Weihai Mingzhu silica gel co., Ltd, an automatic handling device is produced to improve the production efficiency of the enterprise. Firstly, the project of the loading system of silica gel tray is studied. The parallel mechanism has the advantages of stable structure, good dynamic performance, high precision, strong adaptability, versatility, high modularization degree, can realize the processing of the spatial structure of complex components, and the movement is very flexible. In particular, the three-degree-of-freedom three-translational parallel mechanism not only has the advantages of simple structure, few driving elements, low cost, stable motion, but also has the advantages of high speed, good dynamic performance and high stiffness. Suitable for silicone tray handling and other high requirements for the smooth movement of the occasion. In this paper, through the comprehensive analysis of the three translation parallel mechanism types, the RPC three translation parallel mechanism is selected as the moving device, and its workspace, kinematic forward and negative solutions, and motion path are analyzed and studied. The kinematics analysis and simulation of manipulator handling and RPC tri-translational parallel mechanism are carried out by using ADAMS. The comprehensive performance of these mechanisms is compared and analyzed to determine the most suitable way for carrying silica gel pallets. UG,MATLAB and ADAMS are used to combine modeling, kinematics analysis and parametric design, which greatly simplifies the design and development process of mechanical products and improves the working efficiency. It lays a good foundation for the manufacture and control of physical prototype of silica gel tray handling.
【學(xué)位授予單位】：山東理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH241

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