本文選題：移動焊接機(jī)器人 + 柔性機(jī)械臂�。� 參考：《東北石油大學(xué)》2017年碩士論文

【摘要】：隨著現(xiàn)代工業(yè)規(guī)模逐漸擴(kuò)大,對大型焊接結(jié)構(gòu)件的需求越來越高,如大型艦船甲板和艙體、海洋平臺鋼結(jié)構(gòu)組塊等,由于移動焊接機(jī)器人不受固定工位的限制,柔性機(jī)械臂更是可以靈活地調(diào)整姿態(tài)適應(yīng)不同形式的空間焊縫,因此成為智能化焊接領(lǐng)域的研究熱點(diǎn)之一。而柔性機(jī)械臂末端對焊縫的跟蹤精度是保證焊接質(zhì)量的重要條件,因此探究影響車載柔性機(jī)械臂軌跡跟蹤精度的因素以及提高跟蹤精度的方法具有非常重要的意義。首先,將復(fù)雜的車載柔性機(jī)械臂系統(tǒng)簡化為平面柔性連桿機(jī)構(gòu),將空間折線焊縫簡化為平面鋸齒波的形式。建立車載柔性兩桿機(jī)械臂的運(yùn)動學(xué)模型,基于運(yùn)動彈性動力學(xué)分析方法,詳細(xì)介紹了車載柔性機(jī)械臂數(shù)學(xué)模型和系統(tǒng)模型的建立過程。為計算分析柔性機(jī)械臂彈性振動和軌跡跟蹤誤差提供理論基礎(chǔ)。然后,在小車勻速運(yùn)動條件下進(jìn)行焊縫軌跡跟蹤仿真,分析焊縫跟蹤過程中引起柔性機(jī)械臂劇烈的彈性振動主要原因。為降低小車運(yùn)動對機(jī)械臂的影響,規(guī)劃了一種小車變速運(yùn)動的方案�；趶V義慣性橢球原理確定機(jī)械臂良好工作空間,進(jìn)而確定使得機(jī)械臂動力學(xué)性能最好的小車最佳位置,基于小車最佳位置規(guī)劃了另一種變速運(yùn)動方案。最后針對不同尺寸的焊縫,對比分析了三種小車運(yùn)動方案的跟蹤誤差。最后,利用質(zhì)量-彈簧-阻尼模型模擬具有宏微結(jié)構(gòu)的柔性機(jī)械臂,分析此類柔性機(jī)械臂基本的振動特性�；诤�、微彈性振動對系統(tǒng)影響的不同,針對不同相對大小的焊縫軌跡,提出兩種宏機(jī)械臂末端軌跡規(guī)劃,通過對比軌跡跟蹤誤差,驗(yàn)證柔性宏微機(jī)械臂能否有效地提高軌跡跟蹤精度。然后對影響車載柔性機(jī)械臂跟蹤精度的因素,諸如結(jié)構(gòu)參量,材質(zhì)搭配,集中質(zhì)量,宏末端軌跡規(guī)劃進(jìn)行了仿真分析,獲得了許多對此類移動焊接機(jī)械臂設(shè)計和控制有價值的信息。
[Abstract]:With the expansion of modern industrial scale, the demand for large welded structural parts becomes more and more high, such as large ship decks and bulkheads, steel structure blocks of offshore platforms, etc., because mobile welding robots are not restricted by fixed working places. Flexible manipulators can adjust their posture flexibly to suit different types of space weld, so it becomes one of the research hotspots in intelligent welding field. The tracking accuracy of the welding seam at the end of the flexible manipulator is an important condition to ensure the welding quality. Therefore, it is of great significance to explore the factors that affect the tracking accuracy of the flexible manipulator and the methods to improve the tracking accuracy. Firstly, the complex vehicle flexible manipulator system is simplified as a planar flexible linkage mechanism, and the space broken line weld is simplified as a plane sawtooth wave. The kinematics model of the vehicle flexible two-bar manipulator is established. Based on the kinematic elastic dynamics analysis method, the mathematical model and the system model of the vehicle flexible manipulator are introduced in detail. It provides a theoretical basis for the calculation and analysis of elastic vibration and trajectory tracking error of flexible manipulator. Then, the weld track tracking simulation is carried out under the condition of uniform motion of the trolley, and the main causes of the violent elastic vibration of the flexible manipulator during the weld tracking process are analyzed. In order to reduce the influence of the vehicle motion on the manipulator, a scheme of variable speed motion of the trolley is proposed. Based on the generalized inertial ellipsoid principle, the good workspace of the manipulator is determined, and the optimal position of the vehicle which makes the dynamic performance of the manipulator is determined. Based on the optimal position of the vehicle, another scheme of variable speed motion is proposed. Finally, the tracking errors of three kinds of vehicle motion schemes are compared and analyzed for weld seam with different sizes. Finally, the mass-spring-damping model is used to simulate the flexible manipulator with macro and micro structure, and the basic vibration characteristics of this kind of flexible manipulator are analyzed. Based on the different effects of macro and micro elastic vibration on the system, two kinds of trajectory planning of the end of the macro manipulator are proposed for the different relative size of weld trajectory, and the trajectory tracking error is compared. It is verified that the flexible macromanipulator can effectively improve the tracking accuracy. Then the factors that affect the tracking accuracy of the flexible manipulator are simulated and analyzed, such as structure parameters, material collocation, concentrated mass, and macro end trajectory planning. A lot of valuable information has been obtained for the design and control of this kind of mobile welding manipulator.
【學(xué)位授予單位】：東北石油大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP241

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本文編號：2003823