本文選題：PR1400　切入點(diǎn)：D-H　出處：《南京理工大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：機(jī)器人可以被看作是一種能夠擴(kuò)展人類工作能力的有效工具,在人類改造世界的過程中,機(jī)器人發(fā)揮著越來越舉足輕重的作用。焊接機(jī)器人是機(jī)器人家族中的一個(gè)重要分支,是機(jī)器人領(lǐng)域的重要研究方向。關(guān)節(jié)型焊接機(jī)器人以其工作范圍大、動(dòng)作靈活、結(jié)構(gòu)緊湊等特點(diǎn)在焊接機(jī)器人研究中備受設(shè)計(jì)者和使用者青睞。對(duì)關(guān)節(jié)型焊接機(jī)器人運(yùn)動(dòng)軌跡規(guī)劃和控制的研究,一直受到學(xué)者的普遍關(guān)注。本文,首先對(duì)機(jī)器人的定義、研究現(xiàn)狀、及其發(fā)展前景作了介紹。針對(duì)熊貓集團(tuán)的PR1400焊接機(jī)器人,通過對(duì)其參數(shù)結(jié)構(gòu)進(jìn)行分析,確定其工作范圍,并采用粒子群算法對(duì)該機(jī)器人工作范圍內(nèi)的某焊接任務(wù)的焊接路徑進(jìn)行了優(yōu)化求解,力求得到一條最短焊接路徑。其次,介紹了關(guān)節(jié)型機(jī)器人的空間位姿表示方法,并采用D-H法建立了 PR1400焊接機(jī)器人的連桿坐標(biāo)系,對(duì)其進(jìn)行了正逆運(yùn)動(dòng)學(xué)分析,為PR1400焊接機(jī)器人的軌跡規(guī)劃做準(zhǔn)備。再次,研究了焊接機(jī)器人軌跡規(guī)劃的一般方法。在關(guān)節(jié)空間,針對(duì)不同的約束條件,分別對(duì)PR1400焊接機(jī)器人進(jìn)行了三次多項(xiàng)式插值的軌跡規(guī)劃、高次多項(xiàng)式插值的軌跡規(guī)劃、和拋物線過渡的線性插值的軌跡規(guī)劃;在笛卡爾空間深入研究了 PR1400焊接機(jī)器人的直線軌跡規(guī)劃和圓弧軌跡規(guī)劃,并分析了不同軌跡規(guī)劃的優(yōu)缺點(diǎn)。最后應(yīng)用虛擬建模技術(shù),在MATLAB中建立PR1400焊接機(jī)器人的仿真模型,按照已經(jīng)規(guī)劃好的末端焊槍運(yùn)動(dòng)軌跡,對(duì)焊接過程進(jìn)行軌跡規(guī)劃仿真,并研究了該焊接機(jī)器人的運(yùn)動(dòng)學(xué)指標(biāo)在仿真運(yùn)動(dòng)過程中的變化情況。從理論分析和仿真實(shí)驗(yàn)結(jié)果的一致性,證明了所采用的軌跡規(guī)劃算法的有效性、合理性和在軌跡規(guī)劃方面的可行性。
[Abstract]:Robots can be regarded as an effective tool to expand the ability of human beings to work. Robots play a more and more important role in the process of human transformation of the world. Welding robots are an important branch of the robot family. Joint welding robot is an important research direction in the field of robot. The characteristics of compact structure are favored by designers and users in the research of welding robot. The research on motion trajectory planning and control of jointed welding robot has been paid more and more attention by scholars. In this paper, firstly, the definition of robot is introduced. This paper introduces the present situation of the research and its development prospects. According to the PR1400 welding robot of Panda Group, the parameter structure of the robot is analyzed, and the scope of its work is determined. Particle swarm optimization (PSO) algorithm is used to solve the welding path of a welding task in the robot's working range, and the shortest welding path is obtained. Secondly, the space pose representation method of the joint robot is introduced. The coordinate system of PR1400 welding robot is established by D-H method, and the kinematics analysis is carried out to prepare for the trajectory planning of PR1400 welding robot. The general method of trajectory planning for welding robot is studied. In the joint space, the trajectory planning of cubic polynomial interpolation and high-order polynomial interpolation are carried out for PR1400 welding robot under different constraint conditions. The linear interpolation trajectory planning of parabola transition, the linear trajectory planning and arc trajectory planning of PR1400 welding robot in Cartesian space are studied, and the advantages and disadvantages of different trajectory planning are analyzed. The simulation model of PR1400 welding robot is established in MATLAB. According to the planned trajectory of the end welding torch, the trajectory planning simulation of the welding process is carried out. The variation of the kinematics index of the welding robot during the simulation process is studied. The validity of the trajectory planning algorithm is proved by the consistency between the theoretical analysis and the simulation results. Rationality and feasibility in trajectory planning.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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