發(fā)布時間：2018-05-13 01:17

  本文選題：棉桶更換機器人 + 結構設計　； 參考：《山東科技大學》2017年碩士論文

【摘要】：面對人口紅利的逐漸削弱及市場發(fā)展的需求,近年來工業(yè)機器人在家電、物流等行業(yè)中表現(xiàn)活躍,促進了各行業(yè)的發(fā)展。面對棉紡行業(yè)勞動力季節(jié)性緊缺以及高溫、高濕、高噪聲的車間作業(yè)環(huán)境,研發(fā)一種取代工人完成棉桶更換與搬運作業(yè)的特種機器人可提高行業(yè)的自動化程度,加快行業(yè)結構升級。文獻資料研究表明,用于解決棉桶自動更換搬運作業(yè)的技術原理方法未見報道。為改變該現(xiàn)狀,設計研發(fā)了一種由AGV小車和棉桶更換機器人組合而成的特種機器人,并開展了機器人本體結構和控制系統(tǒng)設計、優(yōu)化作業(yè)軌跡、前后臂拓撲優(yōu)化設計以及機器人性能實地測試的工作。結合棉紡車間生產工業(yè)規(guī)劃及機器人性能技術要求,確定了棉桶更換機器人的結構及組成,并對機器人腰部、臂部、腕部及末端執(zhí)行器等關鍵部件進行結構設計;針對機器人系統(tǒng)設計功能與要求,給出了控制系統(tǒng)總體方案,并對伺服驅動原理及增益設置進行詳細闡述,對控制器、驅動器和各類傳感器進行選型設計,完成電氣控制系統(tǒng)的設計。為了對棉桶更換機器人進行軌跡規(guī)劃,基于機器人運動學理論,運用D-H算法建立運動學模型,計算運動學變換矩陣求解運動學正反解;基于軌跡規(guī)劃理論,采用MATLAB仿真軟件優(yōu)化末端軌跡,根據(jù)優(yōu)化結果分析末端軌跡及各關節(jié)速度、加速度情況;為進一步驗證作業(yè)軌跡的穩(wěn)定性,以優(yōu)化后的軌跡作為驅動,采用ADAMS仿真軟件做動力學仿真,分析各關節(jié)所受合力及合力矩情況,可根據(jù)優(yōu)化后的軌跡規(guī)劃現(xiàn)場作業(yè)軌跡。為實現(xiàn)機械本體的輕量化,基于結構優(yōu)化及拓撲優(yōu)化方法理論,提出采用拓撲優(yōu)化方法對前后臂進行輕量化設計。結合機器人作業(yè)情況,采用ANSYS軟件對前后臂進行靜力學分析,獲得危險工況下的應力和變形云圖,對首臺樣機的設計尤為重要;采用拓撲優(yōu)化方法對前后臂進行改進設計,并對改進后的結構進行分析驗證,為課題后續(xù)產品研制提供了技術支持,為同類技術產品設計提供了借鑒。通過搭建試驗樣機,依據(jù)從低速到高速、空載到負載的調試原則,經不斷調試運行,確定伺服增益及運動參數(shù)。對末端軌跡的合理性及位置準確度進行了測試,試驗測試結果分析表明,該系統(tǒng)運行快速、平穩(wěn)、定位精準,可實現(xiàn)棉桶更換搬運作業(yè)。全文在查閱大量中外密切相關技術文獻的基礎上,根據(jù)實際工程項目需求,提出棉桶更換機器人設計方案,對機械本體和控制系統(tǒng)進行了設計;基于運動學和軌跡規(guī)劃理論,優(yōu)化作業(yè)軌跡;采用拓撲優(yōu)化方法實現(xiàn)了前后臂的輕量化;通過實際安裝運行,對系統(tǒng)整體進行性能調試,實現(xiàn)棉桶自動更換搬運作業(yè),解決了 “用工荒”的問題。
[Abstract]:In the face of the gradual weakening of the demographic dividend and the demand for the development of the market, industrial robots have been active in the household electrical appliances and logistics industries in recent years, promoting the development of various industries. Facing the shortage of labor in the cotton spinning industry, and the working environment of high temperature, high humidity and high noise, a kind of replacement and handling of cotton buckets is developed. The special robot in the industry can improve the automation of the industry and accelerate the upgrading of the industry structure. The literature research shows that the technical principles and methods used to solve the automatic replacement of the cotton bucket have not been reported. In order to change the present situation, a special robot composed of AGV car and cotton bucket replacement robot is designed and developed. The design of the robot's body structure and control system, the optimization of the job track, the topology optimization of the front and rear arms and the field testing of the robot's performance are worked out. The structure and composition of the cotton bucket replacement robot are determined by combining the production industry planning and the robot performance requirements of the cotton spinning workshop, and the waist, arm, wrist and end of the robot are held. The key components such as the actuator are designed. According to the function and requirements of the robot system design, the overall scheme of the control system is given. The principle of servo drive and the setting of the gain are expounded in detail. The design of the controller, the driver and various kinds of sensors is designed, and the design of the control system is completed. In order to change the robot of the cotton bucket, the system is designed. Based on the theory of robot kinematics, based on the theory of robot kinematics, the D-H algorithm is used to establish the kinematics model, and the kinematics transformation matrix is calculated to solve the positive and negative solutions. Based on the trajectory planning theory, the MATLAB simulation software is used to optimize the end trajectory, and the end trajectory and the velocity and acceleration of the joints are analyzed according to the optimization results. The stability of the trajectory is driven by the optimized trajectory. The ADAMS simulation software is used to do dynamic simulation, and the joint force and joint force moment of each joint are analyzed. The locus of field work can be planned according to the optimized trajectory. In order to realize the lightweight of the mechanical body, based on the theory of structural optimization and topology optimization, the topology optimization is proposed. A lightweight design for the front and rear arms is carried out. The static analysis of the front and rear arms is carried out by ANSYS software combined with the robot operation. The stress and deformation cloud chart under the dangerous conditions are obtained. The design of the first prototype is particularly important. The design of the front and rear arms is improved with the topology optimization method, and the improved structure is analyzed and analyzed. It provides technical support for the development of the following products, and provides reference for the design of similar technical products. By setting up the test prototype, the servo gain and motion parameters are determined according to the commissioning principle from low speed to high speed to the load, and the rationality and position accuracy of the end trajectory are tested and tested. The analysis of the test results shows that the system runs fast, stable and accurate, and can realize the replacement of the cotton bucket. On the basis of a large number of close related technical documents in China and foreign countries, the design scheme of the cotton bucket replacement robot is proposed based on the actual project requirements, and the mechanical and control systems are designed and based on the movement. The theory of learning and trajectory planning is used to optimize the trajectory of the operation, and the light weight of the front and rear arms is realized by the topology optimization method, and the performance of the system is debugged through the actual installation and operation to realize the automatic replacement of the carrying operation of the cotton bucket, and the problem of "labor shortage" is solved.

【學位授予單位】：山東科技大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

【參考文獻】

相關期刊論文 前10條

1 孫芹;張進生;劉偉虔;劉洋;于慧;李作麗;;基于拓撲優(yōu)化的龍門加工中心橫梁輕量化設計[J];組合機床與自動化加工技術;2016年06期

2 徐e，

本文編號：1881002