本文選題：SCARA機(jī)器人　切入點(diǎn)：運(yùn)動(dòng)可靠性　出處：《昆明理工大學(xué)》2017年碩士論文

【摘要】：工業(yè)機(jī)器人被廣泛地應(yīng)用于汽車(chē)、半導(dǎo)體、印刷電路板、電子產(chǎn)品等領(lǐng)域進(jìn)行搬運(yùn)和裝配工作,其在提高生產(chǎn)自動(dòng)化水平,提高勞動(dòng)生產(chǎn)率和產(chǎn)品質(zhì)量、經(jīng)濟(jì)效益以及改善工人勞動(dòng)條件等方面,起著重要的作用。機(jī)構(gòu)運(yùn)動(dòng)可靠度是衡量各種機(jī)械系統(tǒng)運(yùn)動(dòng)質(zhì)量好壞的重要指標(biāo)之一,它表示機(jī)構(gòu)在規(guī)定的使用期內(nèi)準(zhǔn)確、及時(shí)和協(xié)調(diào)地完成規(guī)定運(yùn)動(dòng)的能力。工業(yè)機(jī)器人運(yùn)動(dòng)的可靠性將會(huì)直接影響其運(yùn)動(dòng)的穩(wěn)定性,最終影響其整體的運(yùn)動(dòng)精度及使用的可靠性。首先,本文綜述了 SCARA機(jī)器人國(guó)內(nèi)外研究現(xiàn)狀,機(jī)構(gòu)可靠性國(guó)內(nèi)外研究現(xiàn)狀以及工業(yè)機(jī)器人發(fā)展趨勢(shì)。其次,在論述機(jī)構(gòu)運(yùn)動(dòng)可靠性理論基礎(chǔ)上,分析了機(jī)構(gòu)運(yùn)動(dòng)精度可靠性分析方法。然后,對(duì)本文研究的RSL-600型SCARA機(jī)器人進(jìn)行了簡(jiǎn)單介紹,并對(duì)其進(jìn)行了有限元靜力學(xué)分析,說(shuō)明SCARA機(jī)器人的柔性化處理對(duì)后文運(yùn)動(dòng)可靠性分析的重要性。接著運(yùn)用機(jī)構(gòu)運(yùn)動(dòng)可靠性分析方法,以動(dòng)力學(xué)仿真軟件ADAMS為平臺(tái),結(jié)合蒙特卡羅仿真原理,利用ADAMS/Insight模塊對(duì)剛?cè)嵋惑w化機(jī)器人機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)可靠性分析,在考慮連桿尺寸誤差和綜合連桿尺寸誤差與運(yùn)動(dòng)副間隙誤差兩種情況下計(jì)算出機(jī)器人運(yùn)動(dòng)可靠度,為提高機(jī)器人的運(yùn)動(dòng)可靠性連桿應(yīng)該盡量選擇大于IT12的加工精度,同時(shí)盡量減少運(yùn)動(dòng)副間隙的大小。最后,針對(duì)本文研究的一批SCARA機(jī)器人樣機(jī)進(jìn)行可靠性實(shí)驗(yàn),得到其X、Y、Z三個(gè)方向的位移可靠度分別0.9886784、0.9900165、0.9875927,表明研制的 RSL-600 型 SCARA 機(jī)器人位移可靠性很高,同時(shí)對(duì)其進(jìn)行了仿真試驗(yàn),驗(yàn)證了本文確定的一種基于ADAMS/Insight模塊的SCARA機(jī)器人機(jī)構(gòu)運(yùn)動(dòng)可靠性分析方法,為其他復(fù)雜機(jī)構(gòu)的運(yùn)動(dòng)可靠性分析提供了一種有效的途徑。在此基礎(chǔ)上,利用MATLAB軟件的GUI模塊,開(kāi)發(fā)出SCARA機(jī)器人機(jī)構(gòu)運(yùn)動(dòng)可靠度計(jì)算程序的人機(jī)交互界面,實(shí)現(xiàn)機(jī)器人機(jī)構(gòu)可靠度的實(shí)時(shí)計(jì)算結(jié)果顯示。
[Abstract]:Industrial robots are widely used in transportation and assembly of automobiles, semiconductors, printed circuit boards, electronic products, etc., which improve the level of production automation, labor productivity and product quality.Economic benefits and improving workers' working conditions, and so on, play an important role.The reliability of mechanism motion is one of the important indexes to measure the motion quality of various mechanical systems. It indicates the ability of the mechanism to complete the specified motion accurately, timely and harmoniously in the specified life.The reliability of industrial robot movement will directly affect the stability of its motion, and ultimately affect its overall motion accuracy and reliability.Firstly, this paper summarizes the research status of SCARA robot at home and abroad, the research status of mechanism reliability at home and abroad and the development trend of industrial robot.Secondly, based on the theory of mechanism motion reliability, the method of mechanism motion precision reliability analysis is analyzed.Then, the RSL-600 type SCARA robot studied in this paper is briefly introduced, and the finite element statics analysis is carried out to illustrate the importance of the flexible processing of the SCARA robot to the later motion reliability analysis.Then, using the mechanism motion reliability analysis method, taking the dynamics simulation software ADAMS as the platform, combining the Monte Carlo simulation principle, using the ADAMS/Insight module to carry on the motion reliability analysis to the rigid flexible integrative robot mechanism.In this paper, the kinematic reliability of the robot is calculated by considering the dimension error of the connecting rod and the error of the connecting rod size and the clearance error of the kinematic pair. In order to improve the kinematic reliability of the robot, the machining accuracy of the connecting rod should be greater than that of IT12 as far as possible.At the same time, as far as possible to reduce the size of the motion pair clearance.Finally, based on the reliability experiments of a batch of SCARA robot prototypes studied in this paper, the displacement reliability in the three directions of the SCARA robot is obtained, which shows that the displacement reliability of the RSL-600 SCARA robot is very high, and the simulation test is also carried out, which shows that the displacement reliability of the RSL-600 robot is very high in the three directions, 0.988 6784 / 0.9900165 / 0.9875927, respectively.A method of kinematic reliability analysis of SCARA robot mechanism based on ADAMS/Insight module is verified in this paper, which provides an effective way for the analysis of motion reliability of other complex mechanisms.On this basis, using the GUI module of the MATLAB software, the man-machine interaction interface of the SCARA robot mechanism motion reliability calculation program is developed, and the real-time calculation result of the robot mechanism reliability is realized.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242;TH112

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