本文選題：運動學(xué)分析 + 動力學(xué)分析　； 參考：《廣西大學(xué)》2017年碩士論文

【摘要】：目前,應(yīng)用比較廣泛的噴涂機器人是串聯(lián)機器人,具有結(jié)構(gòu)簡單、工作空間大的優(yōu)點,但是由于其機構(gòu)是一條較長的串聯(lián)鏈,且其驅(qū)動器主要裝在機器人的關(guān)節(jié)位置上,所以機器人的整體剛度不高,高速運動時有較大的慣性,其關(guān)節(jié)的累計誤差較大,同時影響機器人的精度。本文針對傳統(tǒng)串聯(lián)機構(gòu)和并聯(lián)機構(gòu)的特點,將可控機構(gòu)理論應(yīng)用到機械設(shè)計中,設(shè)計了一種新型六自由度可控機構(gòu)式噴涂機器人。改變驅(qū)動器的布局,將傳統(tǒng)的直接驅(qū)動方式轉(zhuǎn)變?yōu)殚g接驅(qū)動方式,這種間接驅(qū)動是通過四連桿機構(gòu)把驅(qū)動器的運動傳遞到驅(qū)動關(guān)節(jié),不僅增加了機構(gòu)整體的剛度,而且使得其中一個驅(qū)動器的安裝位置下置到基座上,減小了機構(gòu)的慣量;將四連桿機構(gòu)設(shè)計成平行四邊形機構(gòu),相比于非平行的有更大的工作空間和靈活性,且易于控制;下置的驅(qū)動器采用伺服電動缸,它可以提供較大的推力,而且它的位置、速度和力控制精度較高。本文針對這種六自由度可控機構(gòu)式噴涂機器人主要做了以下五個方面的研究工作。第一,介紹了傳統(tǒng)工業(yè)噴涂機器人的結(jié)構(gòu)特點,闡述了新型六自由度可控噴涂機器人的設(shè)計思路,利用螺旋理論分析了噴涂機器人的自由度。第二,采用D-H法分析該噴涂機器人的運動學(xué),并求解了噴涂機器人的正運動學(xué)方程;并運用代數(shù)封閉解法分析了噴涂機器人的逆運動學(xué)問題,然后考慮機器人的微分運動分析了機器人的速度問題。第三,通過積分的方式,由微元到整體,應(yīng)用拉格朗日法求解噴涂機器人的動力學(xué)方程。第四,用連續(xù)接觸模型分析了考慮兩個運動副間隙的機器人的動態(tài)特性。第五,基于用戶的要求進行了笛卡爾空間的軌跡規(guī)劃,然后反解得到關(guān)節(jié)角度,最后采用高階多項式進行擬合,完成噴涂機器人的關(guān)節(jié)空間軌跡規(guī)劃內(nèi)容。
[Abstract]:At present, the widely used spraying robot is a series robot, which has the advantages of simple structure and large workspace, but its mechanism is a long series chain, and its driver is mainly installed in the joint position of the robot. Therefore, the overall stiffness of the robot is not high, there is a large inertia when moving at high speed, the accumulative error of its joint is larger, and the precision of the robot is also affected. According to the characteristics of traditional series mechanism and parallel mechanism, this paper applies the theory of controllable mechanism to mechanical design, and designs a new kind of six-degree-of-freedom controllable mechanism spraying robot. By changing the layout of the driver, the traditional direct drive mode is changed into the indirect drive mode. The indirect driving mechanism transfers the drive motion to the drive joint through the four-bar linkage mechanism, which not only increases the stiffness of the mechanism as a whole. Furthermore, one of the actuators is arranged on the base to reduce the inertia of the mechanism, and the four-bar linkage is designed into a parallelogram mechanism, which has more workspace and flexibility than the non-parallel one, and is easy to control. The lower driver adopts servo electric cylinder, which can provide large thrust, and its position, speed and force control accuracy are higher. In this paper, the six-DOF controllable mechanism spraying robot is studied in the following five aspects. Firstly, the structural characteristics of the traditional industrial spraying robot are introduced, and the design idea of the new controllable spraying robot with six degrees of freedom is expounded, and the degree of freedom of the spraying robot is analyzed by the spiral theory. Secondly, the kinematics of the spraying robot is analyzed by D-H method, and the forward kinematics equation of the spraying robot is solved, and the inverse kinematics problem of the spraying robot is analyzed by using the algebraic closed solution. Then, considering the differential motion of the robot, the velocity problem of the robot is analyzed. Thirdly, the Lagrangian method is used to solve the dynamic equations of the spray robot by integral method from the differential element to the whole. Fourthly, the dynamic characteristics of the robot considering the clearance of two pairs of motion are analyzed by continuous contact model. Fifthly, the trajectory planning of Cartesian space is carried out based on the user's requirements, and then the joint angle is obtained by inverse solution. Finally, the joint space trajectory planning content of the spraying robot is completed by using high-order polynomial fitting.
【學(xué)位授予單位】：廣西大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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