本文關(guān)鍵詞：基于效率的沖床自動上下料運(yùn)動和控制策略研究　出處：《安徽工程大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 工業(yè)機(jī)器人 軌跡規(guī)劃 B樣條曲線 遺傳算法 全局尋優(yōu)

【摘要】：盡管機(jī)器人自動上下料在企業(yè)中已經(jīng)得到較為廣泛應(yīng)用,技術(shù)相對成熟,但電機(jī)定轉(zhuǎn)子硅鋼片沖壓作業(yè)要求速度快,效率高,上下料運(yùn)動軌跡對效率和作業(yè)精度影響非常顯著。本文針對機(jī)械手坐標(biāo)系建立、軌跡規(guī)劃方法選擇使用遺傳算法求解問題等展開技術(shù)研究。本文在蕪湖安普機(jī)器人產(chǎn)業(yè)技術(shù)研究有限公司"電機(jī)定轉(zhuǎn)子片自動化產(chǎn)業(yè)升級"項目資助下選取機(jī)器人的軌跡規(guī)劃作為內(nèi)容研究。具體工作如下:(1)為了深入開展運(yùn)動軌跡規(guī)劃研究,本文針對上下料運(yùn)動特征確定機(jī)械手自由度,通過對比機(jī)械手關(guān)節(jié)結(jié)構(gòu),確定機(jī)械手的關(guān)節(jié)類型。建立了機(jī)械手D-H參數(shù)模型,分析研究其正逆運(yùn)動學(xué),并選取特殊點(diǎn)驗證了結(jié)果的正確性;(2)其次,研究了目前廣泛應(yīng)用的軌跡規(guī)劃方法:關(guān)節(jié)插值軌跡規(guī)劃;笛卡爾空間軌跡規(guī)劃;笛卡爾空間軌跡規(guī)劃。通過分析得出了第一種軌跡規(guī)劃關(guān)節(jié)差值曲線有局限性,無法保證整條軌跡曲線光滑;第二種軌跡規(guī)劃計算量比較大,而且由于軌跡規(guī)劃非常直觀,難以保證有奇異點(diǎn);相對而言,第三種軌跡規(guī)劃可以保證整條軌跡的連續(xù)性,計算量較小;(3)通過上述的對比研究,選取B樣條曲線為軌跡規(guī)劃擬合曲線。以時間最短為目標(biāo),通過遺傳算法全局尋優(yōu)搜索一條時間最短的軌跡,采用MATLAB對遺傳算法進(jìn)行仿真;(4)最后,選用現(xiàn)有埃夫特ER20-C10工業(yè)機(jī)器人進(jìn)行模擬實(shí)驗,記錄了機(jī)器人各個關(guān)節(jié)運(yùn)動時間與關(guān)節(jié)軌跡圖等各種參數(shù)。取得主要成果如下:(1)建立了機(jī)械手的空間位姿表示方法,并求出其正逆解。對比研究了幾種軌跡規(guī)劃方法;(2)通過MATILAB仿真優(yōu)化了機(jī)器人各段工位的時間,整個關(guān)節(jié)曲線趨于平滑,驗證了優(yōu)化方法的可行性;(3)實(shí)驗結(jié)果表明,軌跡規(guī)劃結(jié)果明顯減少了工業(yè)機(jī)器人上下料時間,最多減少了 7.3809s。
[Abstract]:Although the robot automatic loading and unloading has been widely used in enterprises, the technology is relatively mature, but the speed and efficiency of motor stator and rotor silicon steel sheet stamping is high. The movement trajectory of loading and unloading has a significant effect on efficiency and precision. This paper establishes the coordinate system for manipulator. Trajectory planning method selection using genetic algorithm to solve problems and other technical research. This paper in Wuhu Anpu Robot Industry Technology Research Co., Ltd. "Motor stator and rotor blade automation industry upgrade" The trajectory planning of the robot is selected as the content of the project. The specific work is as follows: (. 1) in order to carry out the research of motion trajectory planning deeply. In this paper, the degree of freedom of manipulator is determined according to the movement characteristics of upper and lower materials. By comparing the joint structure of manipulator, the joint type of manipulator is determined. The D-H parameter model of manipulator is established, and the forward and inverse kinematics of manipulator is analyzed and studied. The correctness of the results is verified by selecting special points. Secondly, the widely used trajectory planning methods are studied: joint interpolation trajectory planning; Cartesian space trajectory planning; Descartes space trajectory planning. It is concluded that the first trajectory planning joint difference curve has limitations and can not guarantee the whole trajectory curve smooth. The second kind of trajectory planning has a large amount of calculation, and it is difficult to guarantee the singularity because the trajectory planning is very intuitive. Relatively speaking, the third kind of trajectory planning can guarantee the continuity of the whole trajectory, and the computation is small. 3) through the above comparative study, B spline curve is selected as the trajectory programming fitting curve. The shortest time is taken as the target, and the global optimization of genetic algorithm is used to search a path with the shortest time. The genetic algorithm is simulated by MATLAB. Finally, the existing ER20-C10 industrial robot is selected to simulate the experiment. The motion time and trajectory of each joint are recorded. The main results are as follows: 1) the spatial pose representation method of manipulator is established. The forward and inverse solutions are obtained, and several trajectory planning methods are compared and studied. (2) through MATILAB simulation, the working time of each segment of the robot is optimized, and the whole joint curve tends to smooth, which verifies the feasibility of the optimization method. The experimental results show that the trajectory planning results obviously reduce the loading and unloading time of the industrial robot and the maximum reduction of 7.3809s.
【學(xué)位授予單位】：安徽工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TM305;TP242

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