發(fā)布時(shí)間：2018-05-01 15:05

  本文選題：桁架機(jī)器人 + 耦合特性��； 參考：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著“中國制造2025”規(guī)劃的不斷推進(jìn),智能制造成為中國制造業(yè)轉(zhuǎn)型升級(jí)的主攻方向,而工業(yè)機(jī)器人在產(chǎn)業(yè)轉(zhuǎn)型升級(jí)過程中起到重要作用,其應(yīng)用也越來越廣泛。桁架式工業(yè)機(jī)器人作為柔性智能制造生產(chǎn)線的關(guān)鍵組成部分,起到串聯(lián)自動(dòng)加工設(shè)備、提高生產(chǎn)效率的重要作用。其結(jié)構(gòu)的合理性直接會(huì)影響整個(gè)生產(chǎn)線的運(yùn)行及產(chǎn)品質(zhì)量的穩(wěn)定,但由于國產(chǎn)工業(yè)機(jī)器人在設(shè)計(jì)制造方面與國外仍有較大差距,在設(shè)計(jì)階段缺乏深入的理論計(jì)算及優(yōu)化設(shè)計(jì)分析。所以為提高其工作性能,采用現(xiàn)代先進(jìn)的分析及設(shè)計(jì)方法對(duì)機(jī)器人結(jié)構(gòu)進(jìn)行分析優(yōu)化具有十分重要的意義。本文總結(jié)了國內(nèi)外工業(yè)機(jī)器人發(fā)展及相關(guān)研究現(xiàn)狀,結(jié)合桁架機(jī)器人本體自身結(jié)構(gòu)特點(diǎn),以探討桁架機(jī)器人工作過程中的動(dòng)態(tài)響應(yīng)及結(jié)構(gòu)薄弱環(huán)節(jié)為目的,進(jìn)行了理論、仿真分析及實(shí)驗(yàn)研究。首先,針對(duì)桁架機(jī)器人典型工況,建立基于RecurDyn的剛?cè)狁詈蟿?dòng)力學(xué)模型,分析橫梁、滑臺(tái)等結(jié)構(gòu)的柔性對(duì)末端執(zhí)行器運(yùn)動(dòng)軌跡精度的影響。其次,針對(duì)桁架機(jī)器人末端質(zhì)量在橫梁上水平移動(dòng)過程中,其整個(gè)系統(tǒng)的動(dòng)態(tài)響應(yīng)隨著載荷位置的不斷移動(dòng)而變化,建立桁架機(jī)器人耦合時(shí)變系統(tǒng)動(dòng)力學(xué)模型,研究移動(dòng)末端質(zhì)量以不同初速度及加速度運(yùn)動(dòng)的情況下,橫梁的動(dòng)力響應(yīng)及撓度變化。再次,通過有限元仿真分析與監(jiān)測(cè)實(shí)驗(yàn)相結(jié)合的方法對(duì)桁架機(jī)器人的結(jié)構(gòu)及典型工況進(jìn)行分析,運(yùn)用Matlab進(jìn)行加速度信號(hào)的頻域積分處理,分析了負(fù)載及速度對(duì)桁架機(jī)器人工作性能的影響,并確立了橫梁作為結(jié)構(gòu)優(yōu)化對(duì)象并提出了結(jié)構(gòu)的改進(jìn)建議。最后,制定桁架機(jī)器人結(jié)構(gòu)優(yōu)化方案,進(jìn)行立柱結(jié)構(gòu)的改進(jìn)及橫梁結(jié)構(gòu)多目標(biāo)尺寸優(yōu)化設(shè)計(jì),仿真分析表明桁架機(jī)器人的動(dòng)態(tài)特性及結(jié)構(gòu)剛度得到一定提升。
[Abstract]:With the development of the "made in China 2025" program, intelligent manufacturing has become the main direction of China's manufacturing industry transformation and upgrading. Industrial robots play an important role in the process of industrial transformation and upgrading, and its application is becoming more and more widespread. As a key part of flexible intelligent manufacturing production line, truss industrial robot plays an important role in series automatic machining equipment and improving production efficiency. The rationality of the structure will directly affect the operation of the whole production line and the stability of the product quality. However, there is still a big gap between the domestic industrial robot and foreign countries in the design and manufacture of the robot. In the design phase, there is a lack of in-depth theoretical calculation and optimization design analysis. It is considered that it is of great significance to improve the performance of the robot and adopt modern advanced analysis and design methods to analyze and optimize the structure of the robot. In this paper, the development of industrial robots at home and abroad and their related research status are summarized. Combined with the structural characteristics of truss robots, the dynamic response and structural weakness in the working process of truss robots are discussed. Simulation analysis and experimental research. Firstly, the rigid-flexible coupling dynamic model based on RecurDyn is established for the typical working conditions of truss robot, and the influence of the flexibility of beam and slide platform on the trajectory accuracy of the end effector is analyzed. Secondly, the dynamic response of the whole system changes with the moving of the load position during the horizontal movement of the mass of the truss robot on the crossbeam, so the dynamic model of the coupled time-varying system of the truss robot is established. The dynamic response and deflection of the beam with different initial velocities and accelerations are studied. Thirdly, the structure and typical working conditions of truss robot are analyzed by the combination of finite element simulation analysis and monitoring experiment, and the frequency domain integral of acceleration signal is processed by Matlab. The influence of load and speed on the performance of truss robot is analyzed, and the cross beam is established as the optimization object of the structure, and some suggestions for improving the structure are put forward. Finally, the optimization scheme of truss robot structure is established to improve the column structure and the multi-objective size optimization design of the crossbeam structure. The simulation results show that the dynamic characteristics and the structural stiffness of the truss robot are improved to a certain extent.
【學(xué)位授予單位】：合肥工業(yè)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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