本文關(guān)鍵詞：四自由度混聯(lián)機器人離線編程系統(tǒng)研究　出處：《鄭州輕工業(yè)學(xué)院》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 離線編程 虛擬建模 軌跡規(guī)劃 遺傳算法 運動仿真

【摘要】：現(xiàn)代物流等行業(yè)發(fā)展迅速,以搬運與碼垛作業(yè)為主要任務(wù)的混聯(lián)機器人以其結(jié)構(gòu)穩(wěn)定,占地空間小,負載能力強等優(yōu)點,受到眾多企業(yè)的關(guān)注。傳統(tǒng)機器人的編程方式,由于需要將任務(wù)點逐一示教,編程結(jié)果依靠經(jīng)驗,復(fù)雜路徑耗時過多,正確性差,工作人員安全無法保證等不足,難以滿足現(xiàn)代物流業(yè)對效率和準(zhǔn)確性的要求,因此離線編程系統(tǒng)越來越成為發(fā)展的趨勢,本文通過VB對Solidworks二次開發(fā)研究了混聯(lián)機器人的離線編程系統(tǒng),主要工作如下:首先,本文深入研究了離線編程系統(tǒng)的關(guān)鍵技術(shù),并利用Access數(shù)據(jù)庫技術(shù),通過Visual Basic 6.0對Solid Works API函數(shù)的二次開發(fā),完成了零部件參數(shù)化設(shè)計。采用“自上而下”的自動裝配技術(shù),完成虛擬裝配模型的創(chuàng)建,根據(jù)本文混聯(lián)機器人工作特點,應(yīng)用4×4矩陣法,利用空間坐標(biāo)變換,完成虛擬工作單元的參數(shù)化布局。其次,針對混聯(lián)機器人結(jié)構(gòu)特點,建立D-H坐標(biāo)系,利用分離變量法對四自由度機器人進行運動學(xué)分析和求解,并采用ADAMS仿真軟件進行運動學(xué)分析驗證,求出了機器人速度,加速度運動學(xué)特性曲線。再次,以運動插值時間最短為優(yōu)化目標(biāo),采用加入外點罰函數(shù)的遺傳算法對機器人進行了關(guān)節(jié)空間的“P-T-P”軌跡優(yōu)化。針對運動干涉和產(chǎn)生的動態(tài)碰撞問題,采用了基于包圍球的碰撞檢測算法對運動仿真過程實施動態(tài)監(jiān)測,并運用動態(tài)相交測試算法驗證了碰撞檢測的可行性。最后總體設(shè)計了離線編程系統(tǒng)參數(shù)化虛擬建模模塊,運動學(xué)模塊,軌跡規(guī)劃和自動編程及狀態(tài)監(jiān)測模塊等,通過Active X方式開發(fā)出運動仿真模塊,對自動編程結(jié)果基于Soldworks進行了COSMOS motion運動仿真驗證。
[Abstract]:Modern logistics and other industries are developing rapidly. The hybrid robot with handling and palletizing as its main task has the advantages of stable structure, small space, strong load capacity and so on. The traditional robot programming method needs to teach the task points one by one, the programming result depends on experience, the complex path is time-consuming, and the correctness is not good. Staff safety can not be guaranteed and so on, it is difficult to meet the requirements of efficiency and accuracy of modern logistics industry, so off-line programming system has become a trend of development. In this paper, the off-line programming system of hybrid robot is developed by VB for Solidworks. The main work is as follows: firstly, the key technology of off-line programming system is studied deeply in this paper. Using Access database technology, the second development of Solid Works API function is carried out by Visual Basic 6.0. The parameterized design of parts and components is completed, and the virtual assembly model is created by "top-down" automatic assembly technology. According to the working characteristics of the hybrid robot in this paper, the 4 脳 4 matrix method is applied. The parameterized layout of the virtual work unit is completed by using the spatial coordinate transformation. Secondly, the D-H coordinate system is established according to the structural characteristics of the hybrid robot. The kinematics analysis and solution of the four-degree-of-freedom robot are carried out by using the method of separating variables, and the velocity of the robot is obtained by using the ADAMS simulation software to verify the kinematics analysis. Thirdly, take the shortest time of motion interpolation as the optimization target. A genetic algorithm with penalty function is used to optimize the "P-T-P" trajectory in the joint space of the robot, aiming at the problem of motion interference and dynamic collision. The collision detection algorithm based on bounding ball is used to dynamically monitor the motion simulation process. Finally, the parameterized virtual modeling module, kinematics module, trajectory planning and automatic programming and state monitoring module of off-line programming system are designed. The motion simulation module is developed by Active X, and the automatic programming result is verified by COSMOS motion motion simulation based on Soldworks.
【學(xué)位授予單位】：鄭州輕工業(yè)學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP242

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