本文選題：雙臂工業(yè)機(jī)器人 + 結(jié)構(gòu)設(shè)計�。� 參考：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：雙臂工業(yè)機(jī)器人作為智能裝備自動化程度很高的擬人化操作機(jī),在制造業(yè)和生活服務(wù)領(lǐng)域具有良好的應(yīng)用前景,同時在推動機(jī)器人產(chǎn)業(yè)成為新興科技產(chǎn)業(yè)的進(jìn)程中起著至關(guān)重要的作用。雙臂工業(yè)機(jī)器人相比于單臂機(jī)器人在靈活性、適應(yīng)環(huán)境能力、以及工作空間利用率等方面具有較大優(yōu)勢,為了實現(xiàn)這些優(yōu)勢對雙臂工業(yè)機(jī)器人進(jìn)行理論應(yīng)用研究有著重要的意義。本文根據(jù)雙臂機(jī)器人作業(yè)任務(wù)特點,設(shè)計了雙臂機(jī)器人結(jié)構(gòu),并對其進(jìn)行了運動分析。首先,根據(jù)作業(yè)任務(wù)特點以及工作參數(shù)對雙臂工業(yè)機(jī)器人的結(jié)構(gòu)進(jìn)行了設(shè)計并對各關(guān)節(jié)驅(qū)動系統(tǒng)進(jìn)行選型;采用了有限元分析軟件ANSYS Workbench對機(jī)器人大小臂進(jìn)行了靜力分析和模態(tài)分析,驗證了設(shè)計的合理性。其次,根據(jù)D-H法建立了雙臂工業(yè)機(jī)器人正、逆運動學(xué)方程,并基于Matlab Robotics Toolbox工具箱對運動學(xué)方程進(jìn)行了仿真分析,求出了機(jī)器人工作空間。然后,采用關(guān)節(jié)空間五次多項式插值法在Matlab Robotic Toolbox工具箱中編制程序完成了對雙臂工業(yè)機(jī)器人的軌跡規(guī)劃及仿真。此外,運用ADAMS軟件對雙臂工業(yè)機(jī)器人進(jìn)行參數(shù)化建模并對大小臂關(guān)節(jié)和末端執(zhí)行裝置進(jìn)行了動力學(xué)分析。最后,根據(jù)作業(yè)任務(wù)特點研究了雙臂協(xié)調(diào)運動過程中的約束關(guān)系并建立了運動學(xué)方程,針對兩種典型裝配任務(wù)中遇到的計算量大、難以保證末端位姿、時間和速度約束關(guān)系等問題提出了可行的解決方案。
[Abstract]:As a humanoid manipulator with high degree of automation in intelligent equipment, dual-arm industrial robot has a good application prospect in the field of manufacturing and life service. At the same time, it plays an important role in promoting the robot industry to become a new technology industry. Compared with single-arm robot, dual-arm industrial robot has great advantages in flexibility, adaptability to environment, and utilization rate of workspace, etc. In order to realize these advantages, it is of great significance to study the theoretical application of dual-arm industrial robot. According to the task characteristics of dual-arm robot, the structure of dual-arm robot is designed and its motion is analyzed. Firstly, the structure of the dual-arm industrial robot is designed according to the characteristics of the task and the working parameters, and the joint drive system is selected. The finite element analysis software ANSYS Workbench is applied to the static analysis and modal analysis of the robot's forearm, which verifies the rationality of the design. Secondly, according to D-H method, the forward and inverse kinematics equations of dual-arm industrial robot are established, and the kinematics equations are simulated and analyzed based on Matlab Robotics Toolbox toolbox, and the robot workspace is obtained. Then, the joint space quintic interpolation method is used to program the trajectory planning and simulation of the dual-arm industrial robot in the Matlab Robotic Toolbox toolbox. In addition, the parameterized modeling of dual-arm industrial robot is carried out by using ADAMS software, and the dynamic analysis of the joint of the upper and lower arm and the end executing device is carried out. Finally, according to the characteristics of task, the constraint relation in the process of two-arm coordinated motion is studied, and the kinematics equation is established. In view of the large amount of calculation in two typical assembly tasks, it is difficult to guarantee the terminal position and pose. A feasible solution to the problem of time and speed constraints is proposed.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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