【摘要】：本文在深入了解國(guó)內(nèi)外玻璃在線堆垛行業(yè)發(fā)展的基礎(chǔ)上，結(jié)合現(xiàn)有智能堆垛機(jī)械手，設(shè)計(jì)了一套基于工業(yè)機(jī)器人的玻璃在線堆垛系統(tǒng)，并對(duì)系統(tǒng)進(jìn)行運(yùn)動(dòng)學(xué)分析及軌跡規(guī)劃，最終實(shí)現(xiàn)玻璃在線堆垛作業(yè)。 首先根據(jù)系統(tǒng)作業(yè)類型，設(shè)計(jì)系統(tǒng)末端執(zhí)行器。末端執(zhí)行器是系統(tǒng)執(zhí)行部件，根據(jù)玻璃在線堆垛作業(yè)類型設(shè)計(jì)末端執(zhí)行器，即吸盤架。根據(jù)吸盤架吸附玻璃重量、尺寸等具體條件設(shè)計(jì)氣路系統(tǒng)；根據(jù)玻璃在線堆垛系統(tǒng)的具體工作情況和實(shí)際要求，選取了真空發(fā)生器等系統(tǒng)關(guān)鍵部件，最終完成系統(tǒng)的搭建。 用Pro/E軟件建立了工業(yè)機(jī)器人系統(tǒng)的三維實(shí)體模型，根據(jù)關(guān)節(jié)空間關(guān)系坐標(biāo)系，建立D-H模型，計(jì)算得到6個(gè)關(guān)節(jié)坐標(biāo)變換矩陣，求出相鄰連桿的坐標(biāo)變換通式，從而求出正向運(yùn)動(dòng)學(xué)方程；在正向運(yùn)動(dòng)學(xué)求解的基礎(chǔ)上，運(yùn)用解析法求解了逆向運(yùn)動(dòng)學(xué)問(wèn)題，并對(duì)多解性作了分析；在關(guān)節(jié)空間中，采用三次多項(xiàng)式函數(shù)法對(duì)機(jī)器人的軌跡進(jìn)行了規(guī)劃，對(duì)玻璃堆垛過(guò)程中經(jīng)過(guò)的關(guān)鍵點(diǎn)進(jìn)行三次多項(xiàng)式擬合，得到各個(gè)運(yùn)動(dòng)軸的驅(qū)動(dòng)函數(shù)，從而完成系統(tǒng)的軌跡規(guī)劃。 在Pro/E Mechanism模塊中對(duì)三維實(shí)體模型添加驅(qū)動(dòng)和驅(qū)動(dòng)參數(shù)，根據(jù)運(yùn)動(dòng)學(xué)求解結(jié)果及系統(tǒng)軌跡規(guī)劃曲線進(jìn)行運(yùn)動(dòng)學(xué)仿真，，同時(shí)模擬了規(guī)劃軌跡的全過(guò)程，并對(duì)這一過(guò)程進(jìn)行了運(yùn)動(dòng)學(xué)分析，最后用實(shí)驗(yàn)驗(yàn)證了軌跡規(guī)劃合理性以及可行性。該項(xiàng)研究的意義在于提高工業(yè)機(jī)器人系統(tǒng)的工作效率、為系統(tǒng)編程提供數(shù)據(jù)以及為操作工業(yè)機(jī)器人系統(tǒng)提供理論指導(dǎo)。
[Abstract]:On the basis of deep understanding of the development of glass online stacking industry at home and abroad, combined with the existing intelligent stacking manipulator, a set of on-line glass stacking system based on industrial robot is designed, and the kinematics analysis and trajectory planning of the system are carried out. Finally, glass on-line stacking operation is realized. First of all, according to the job type of the system, the end actuator of the system is designed. End Actuator is a part of system execution. According to the type of glass on-line stacking, the end Actuator is designed, I. E., sucker holder. The air circuit system is designed according to the specific conditions of absorbing glass weight and size on the suction tray, and according to the concrete working conditions and practical requirements of the glass on-line stacking system, the key components of the system, such as vacuum generator, are selected, and the system is finally built. The three-dimensional solid model of industrial robot system is established by using Pro/E software. According to the joint spatial relation coordinate system, the D-H model is established. Six joint coordinate transformation matrices are calculated, and the general formula of coordinate transformation of adjacent links is obtained. Thus, the forward kinematics equation is obtained. On the basis of solving forward kinematics, the inverse kinematics problem is solved by analytic method, and the multi-solution is analyzed. In the joint space, the trajectory of the robot is planned by the cubic polynomial function method, and the key points in the glass stacking process are fitted with cubic polynomials, and the driving functions of each moving axis are obtained. As a result, the trajectory planning of the system is completed. In the Pro/E Mechanism module, the driving and driving parameters are added to the three-dimensional solid model. According to the results of kinematics solution and the trajectory planning curve of the system, the kinematics simulation is carried out. At the same time, the whole process of the planning trajectory is simulated. Finally, the rationality and feasibility of trajectory planning are verified by experiments. The significance of this research is to improve the efficiency of industrial robot system, to provide data for system programming and to provide theoretical guidance for the operation of industrial robot system.
【學(xué)位授予單位】：河南科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH24;TP242.2

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