本文關(guān)鍵詞：SCARA型多軸工業(yè)機(jī)器人控制技術(shù)研究　出處：《山東大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： SCARA 相貫曲線 CODESYS 三維仿真 上位機(jī)界面

【摘要】：SCARA型機(jī)器人是工業(yè)機(jī)器人中應(yīng)用最廣泛的類型之一,傳統(tǒng)的SCARA機(jī)器人結(jié)構(gòu)特點(diǎn)是旋轉(zhuǎn)關(guān)節(jié)的軸線平行,特殊的結(jié)構(gòu)使它的控制系統(tǒng)的設(shè)計(jì)尤其簡單,被廣泛應(yīng)用與搬運(yùn)、貼片等場合,結(jié)構(gòu)輕便,速度較快,當(dāng)用于焊接時(shí),直接加持焊槍控制的情況下沒法保證對(duì)焊槍的姿態(tài)控制,因此提出增加另外一個(gè)姿態(tài)軸與變位機(jī)進(jìn)行協(xié)調(diào)軌跡控制,保證焊接質(zhì)量。機(jī)器人控制系統(tǒng)機(jī)器人的重要組成部分,用于實(shí)現(xiàn)機(jī)器人運(yùn)動(dòng)和軌跡控制,實(shí)現(xiàn)預(yù)定的任務(wù)。該課題是使用德國3S公司的CODESYS軟件開發(fā)SCARA型多軸工業(yè)機(jī)器人控制系統(tǒng),并使用WPF開發(fā)機(jī)器人上位機(jī)使用界面。主要的研究內(nèi)容如下:第一部分是SCARA型多軸焊接機(jī)器人運(yùn)動(dòng)學(xué)分析,包括空間描述與變換,建立D-H坐標(biāo)系,進(jìn)行了機(jī)器人正逆運(yùn)動(dòng)學(xué)的計(jì)算,并討論多重解的選擇,以及在機(jī)構(gòu)的奇異位型處的解的選擇。第二部分研究SCARA型多軸焊接機(jī)器人系統(tǒng)中坐標(biāo)系關(guān)系,建立垂直正交的管管相貫曲線的數(shù)學(xué)模型并進(jìn)行MATLAB仿真,研究了機(jī)器人與變位機(jī)進(jìn)行協(xié)調(diào)控制的算法,包括末端工具的姿態(tài)控制、機(jī)器人位姿的控制、變位機(jī)的旋轉(zhuǎn)過程中焊縫點(diǎn)的位置與姿態(tài)變化矩陣。第三部分基于CODESYS開發(fā)平臺(tái)進(jìn)行SCARA型多軸機(jī)器人控制系統(tǒng)的設(shè)計(jì)。包括:軸參數(shù)配置、主從站設(shè)置、視圖管理、點(diǎn)動(dòng)控制設(shè)計(jì)、示教控制設(shè)計(jì)、速度與路徑規(guī)劃設(shè)計(jì)等,搭建了硬件平臺(tái)。第四部分建立SCARA型多軸焊接機(jī)器人的仿真模型,通過OPC通訊實(shí)時(shí)傳輸軸位置進(jìn)行狀態(tài)控制。并且在上位機(jī)中進(jìn)行不同工具的模塊化仿真設(shè)計(jì),模擬不同的現(xiàn)場,可進(jìn)行工具切換和功能塊切換,實(shí)現(xiàn)不同的功能。最后一部分是SCARA型多軸工業(yè)機(jī)器人上位機(jī)控制界面的開發(fā),包括:建立通訊、G代碼控制、離線編程、示教、軌跡仿真等。
[Abstract]:SCARA robot is one of the most widely used types in industrial robot. The traditional SCARA robot is characterized by parallel axis of rotating joint. The special structure makes the design of its control system especially simple. It is widely used in handling, patch and other occasions. The structure is light and fast, when used in welding. Direct welding torch control can not guarantee the welding torch attitude control, so it is proposed to add another attitude axis to coordinate the trajectory control with the positioner. Ensuring welding quality. Robot control system is an important part of robot, which is used to realize robot motion and trajectory control. The task is to develop the control system of SCARA multi-axis industrial robot by using the CODESYS software of 3s company in Germany. The main research contents are as follows: the first part is the kinematics analysis of SCARA multi-axis welding robot, including space description and transformation. The D-H coordinate system is established and the forward and inverse kinematics of the robot is calculated and the choice of multiple solutions is discussed. And the selection of the solution at the singular position of the mechanism. The second part studies the coordinate system of the SCARA type multi-axis welding robot system. The mathematical model of vertical orthogonal pipe intersecting curve is established and the MATLAB simulation is carried out. The coordinated control algorithm between robot and positioner is studied including the attitude control of terminal tool. Robot pose control. The position and attitude change matrix of the weld during the rotation of the positioner. The third part is based on the CODESYS development platform to design the control system of the SCARA multi-axis robot, including: axis parameter configuration. Master and slave station setting, view management, point control design, teaching control design, speed and path planning design and so on, built the hardware platform. 4th part of the SCARA multi-axis welding robot simulation model. The position of real-time transmission axis is controlled by OPC, and the modularized simulation design of different tools is carried out in the upper computer, which simulates different sites and can switch tools and function blocks. The last part is the development of the upper computer control interface of SCARA multi-axis industrial robot, including the establishment of communication code control, off-line programming, teaching, trajectory simulation and so on.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242.2

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 嚴(yán)明;全球工業(yè)機(jī)器人銷量將轉(zhuǎn)升[J];機(jī)電一體化;2000年02期

2 李瑞峰;新一代工業(yè)機(jī)器人系列產(chǎn)品開發(fā)[J];機(jī)器人;2001年S1期

3 陳佩云,金茂菁,曲忠萍;我國工業(yè)機(jī)器人發(fā)展現(xiàn)狀[J];機(jī)器人技術(shù)與應(yīng)用;2001年01期

4 ;1999年韓國工業(yè)機(jī)器人數(shù)據(jù)[J];機(jī)器人技術(shù)與應(yīng)用;2001年02期

5 ;日本工業(yè)機(jī)器人發(fā)展概況[J];機(jī)器人技術(shù)與應(yīng)用;2001年03期

6 ;世界工業(yè)機(jī)器人產(chǎn)業(yè)發(fā)展動(dòng)向[J];今日科技;2001年11期

7 王田苗;工業(yè)機(jī)器人發(fā)展思考[J];機(jī)器人技術(shù)與應(yīng)用;2004年02期

8 彭惠民;;新一代工業(yè)機(jī)器人的開發(fā)[J];鐵道機(jī)車車輛工人;2007年03期

9 ;工業(yè)機(jī)器人專題報(bào)道[J];機(jī)器人技術(shù)與應(yīng)用;2007年05期

10 徐方;;工業(yè)機(jī)器人產(chǎn)業(yè)現(xiàn)狀與發(fā)展[J];機(jī)器人技術(shù)與應(yīng)用;2007年05期

相關(guān)會(huì)議論文 前10條

1 吳繁;潘煉;;工業(yè)機(jī)器人單目雙視的應(yīng)用研究[A];中國計(jì)量協(xié)會(huì)冶金分會(huì)2009年年會(huì)論文集[C];2009年

2 ;工業(yè)機(jī)器人[A];日本機(jī)械學(xué)會(huì)技術(shù)路線圖[C];2008年

3 羅t，

本文編號(hào)：1396005