本文選題：串聯(lián)機(jī)器人 + 運(yùn)動(dòng)學(xué)��； 參考：《天津科技大學(xué)》2017年碩士論文

【摘要】：串聯(lián)機(jī)器人作為機(jī)電一體化大背景下的優(yōu)秀產(chǎn)品,近些年其與機(jī)器視覺以及計(jì)算機(jī)等先進(jìn)領(lǐng)域緊密結(jié)合,使得串聯(lián)機(jī)器人的工作能力不斷提升,對于各行各業(yè)不同的工作業(yè)務(wù)需求,串聯(lián)機(jī)器人及其衍生機(jī)器人都可以完美勝任。本文主要工作為開發(fā)一臺以教學(xué)為主要用途的小型五自由度串聯(lián)機(jī)器人,以幫助本科學(xué)生研究學(xué)習(xí)工業(yè)機(jī)器人的工作原理和工作過程。本文將主要探討小型五自由度機(jī)器人的結(jié)構(gòu)設(shè)計(jì),通過學(xué)習(xí)各種機(jī)器人課程和參考已經(jīng)發(fā)表論文的已有類似研究,確定機(jī)器人的整體結(jié)構(gòu)參數(shù),通過使用三維建模軟件建立三維模型,運(yùn)用仿真和分析軟件進(jìn)行相關(guān)運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的分析和仿真,最后確定最終的方案設(shè)計(jì),選購耗材組裝初代機(jī)。首先參考市場上同類型產(chǎn)品的構(gòu)型和技術(shù)參數(shù),結(jié)合課題要求確定機(jī)器人的技術(shù)參數(shù)和機(jī)構(gòu)構(gòu)型,根據(jù)機(jī)器人機(jī)構(gòu)構(gòu)型選擇并設(shè)計(jì)合適的傳動(dòng)系統(tǒng),結(jié)合機(jī)器人的技術(shù)參數(shù)確定機(jī)器人的電機(jī)和減速器型號,運(yùn)用三維建模軟件建立機(jī)器人的整體三維模型。運(yùn)用D-H參數(shù)法建立了小型五自由度串聯(lián)機(jī)器人的連桿坐標(biāo)系和連桿參數(shù),列出了各個(gè)關(guān)節(jié)的齊次變換矩陣,對機(jī)器人進(jìn)行了正運(yùn)動(dòng)學(xué)分析,推導(dǎo)出了機(jī)器人末端執(zhí)行器相對于基座標(biāo)系的位姿矩陣,對機(jī)器人進(jìn)行了逆運(yùn)動(dòng)學(xué)分析,求出了機(jī)器人各個(gè)關(guān)節(jié)角的表達(dá)式,列出了機(jī)器人的雅克比矩陣,最后運(yùn)用Matlab軟件對機(jī)器人的運(yùn)動(dòng)空間進(jìn)行了仿真。通過拉格朗日法對小型五自由度串聯(lián)機(jī)器人進(jìn)行動(dòng)力學(xué)分析,推導(dǎo)出來機(jī)器人前三個(gè)關(guān)節(jié)的動(dòng)力學(xué)方程,并通過Matlab軟件求解出了機(jī)器人前三個(gè)關(guān)節(jié)的最大力矩,驗(yàn)證電機(jī)和減速器選型是否符合要求,運(yùn)用Workbench軟件對機(jī)器人模型進(jìn)行了模態(tài)分析,得到了分析云圖,得到了機(jī)器人結(jié)構(gòu)的振動(dòng)特性,避免機(jī)器人結(jié)構(gòu)設(shè)計(jì)可能產(chǎn)生的共振損害。對機(jī)器人極限位置進(jìn)行靜力學(xué)分析,得到機(jī)器人在極限位置時(shí)的應(yīng)力和應(yīng)變云圖,對機(jī)器人的關(guān)鍵部件進(jìn)行靜力學(xué)分析,得到應(yīng)力和應(yīng)變云圖,通過對機(jī)器人的應(yīng)力和應(yīng)變云圖的分析,確定機(jī)器人的強(qiáng)度和剛度是否符合要求。購買材料和零件,依照設(shè)計(jì)搭建了第一代小型五自由度串聯(lián)機(jī)器人。
[Abstract]:As an excellent product in the background of mechatronics, series robot is closely combined with advanced fields such as machine vision and computer in recent years, which makes the working ability of series robot improve continuously. The series robot and its derivative robot can be perfect for the different business requirements of various industries. The main work of this paper is to develop a small series robot with five degrees of freedom, which is mainly used in teaching, in order to help undergraduate students study the working principle and working process of industrial robot. This paper will mainly discuss the structural design of a small five-degree-of-freedom robot, and determine the overall structural parameters of the robot by studying various robot courses and referring to similar studies that have been published. By using 3D modeling software to establish 3D model, and using simulation and analysis software to analyze and simulate related kinematics and dynamics, the final scheme design is determined, and the primary generation machine is selected and purchased. First of all, referring to the configuration and technical parameters of the same type of products in the market, combining with the requirements of the project to determine the technical parameters and the mechanism configuration of the robot, select and design the appropriate transmission system according to the configuration of the robot mechanism. Combined with the technical parameters of the robot, the model of the motor and reducer of the robot is determined, and the whole 3D model of the robot is established by using the 3D modeling software. By using D-H parameter method, the connecting rod coordinate system and connecting rod parameters of a small five-degree-of-freedom series robot are established, the homogeneous transformation matrix of each joint is listed, and the positive kinematics of the robot is analyzed. The pose matrix of the robot end effector relative to the base system is derived, the inverse kinematics analysis of the robot is carried out, the expressions of each joint angle of the robot are obtained, and the Jacobian matrix of the robot is listed. Finally, the motion space of the robot is simulated with Matlab software. The dynamic equations of the first three joints of a small five-degree-of-freedom series robot are derived by Lagrangian method, and the maximum torque of the first three joints of the robot is solved by Matlab software. To verify whether the selection of motor and reducer meets the requirements, the modal analysis of the robot model is carried out by using Workbench software, and the analysis cloud diagram is obtained, and the vibration characteristics of the robot structure are obtained to avoid the possible resonance damage caused by the design of the robot structure. The stress and strain cloud diagram of the robot at the limit position is obtained by statics analysis of the robot's limit position, and the stress and strain cloud diagram is obtained by statics analysis of the key parts of the robot. Through the analysis of the stress and strain cloud diagram of the robot, it is determined whether the strength and stiffness of the robot meet the requirements. The first generation of 5 DOF series robot is built according to the design of materials and parts.
【學(xué)位授予單位】：天津科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1848991