本文選題：機(jī)械臂運(yùn)動(dòng)學(xué)尺寸 + 連桿截面尺寸�。� 參考：《沈陽(yáng)理工大學(xué)》2017年碩士論文

【摘要】：X射線相機(jī)檢測(cè)設(shè)備,是電網(wǎng)公司對(duì)絕緣筒內(nèi)部線纜是否出現(xiàn)斷股進(jìn)行檢測(cè)的重要設(shè)備,它檢測(cè)的方便性與可靠性,直接關(guān)系到電網(wǎng)公司的安全經(jīng)營(yíng)與經(jīng)濟(jì)效益,傳統(tǒng)的檢測(cè)方法是依靠人力手持X射線相機(jī)對(duì)絕緣筒內(nèi)部線纜進(jìn)行檢測(cè),這樣一方面對(duì)操作工人造成一定的輻射危險(xiǎn)、增加了工作強(qiáng)度,另一方面無(wú)法保證檢測(cè)的可靠性,所以設(shè)計(jì)一款可靠性高的,負(fù)載自重比大的,使用方便的機(jī)械臂代替?zhèn)鹘y(tǒng)的人力手持X射線相機(jī)是具有重要的現(xiàn)實(shí)意義的。機(jī)械臂本體的機(jī)構(gòu)設(shè)計(jì),是整個(gè)機(jī)械臂系統(tǒng)中的重要組成部分,本文根據(jù)力可操作度指標(biāo),加速度性能指標(biāo),靈活性指標(biāo)作為機(jī)械臂機(jī)構(gòu)設(shè)計(jì)的優(yōu)化目標(biāo)函數(shù),以機(jī)械臂的工作范圍為約束條件,設(shè)計(jì)機(jī)械臂的運(yùn)動(dòng)學(xué)尺寸,在這一過(guò)程中提出了將層次分析法應(yīng)用到多目標(biāo)優(yōu)化中來(lái)。結(jié)果表明經(jīng)過(guò)這樣優(yōu)化后的機(jī)械臂,在力可操作度,加速度性能,以及靈活性方面均有較好的性能。采用能量法對(duì)機(jī)械臂連桿的彎曲形式進(jìn)行了選型,得出了在同樣的運(yùn)動(dòng)尺寸下,直桿的變形要小于彎桿的變形,并且這一結(jié)論通過(guò)了SolidWorks的仿真驗(yàn)證。采用強(qiáng)度準(zhǔn)則,撓曲變形準(zhǔn)則對(duì)機(jī)械臂連桿的截面尺寸進(jìn)行了設(shè)計(jì),采用同樣的方法推導(dǎo)出連桿截面尺寸沿連桿長(zhǎng)度方向上漸變的函數(shù)曲線,得到了用于機(jī)械臂的連桿,其壁厚為外形尺寸的0.2到0.3倍時(shí),效果最好。然后對(duì)所設(shè)計(jì)的機(jī)械臂采用齊次變換的理論進(jìn)行了運(yùn)動(dòng)學(xué)分析,采用牛頓-歐拉方法進(jìn)行了動(dòng)力學(xué)分析。對(duì)所設(shè)計(jì)的機(jī)械臂進(jìn)行了軌跡規(guī)劃,分別采用了五次多項(xiàng)式插值,加減速插值,B樣條插值,并且詳細(xì)的比較了這三種插值方法的優(yōu)缺點(diǎn)。最后,采用MATLAB開(kāi)發(fā)出了一套針對(duì)于五自由度機(jī)械臂設(shè)計(jì)與分析的軟件。
[Abstract]:X-ray camera testing equipment is an important equipment for power grid company to detect whether the cable inside the insulation tube is broken. Its convenience and reliability are directly related to the safety management and economic benefit of the power grid company. The traditional testing method is to rely on the hand-held X-ray camera to detect the inner cable of the insulating tube. On the one hand, it causes a certain radiation hazard to the operator and increases the working intensity. On the other hand, it cannot guarantee the reliability of the detection. Therefore, it is of great practical significance to design a high reliability, load to weight ratio and convenient mechanical arm instead of the traditional hand-held X-ray camera. The mechanism design of the arm body is an important part of the whole manipulator system. In this paper, the force operability index, acceleration performance index and flexibility index are taken as the optimization objective function of the mechanical arm mechanism design. The kinematics dimension of the manipulator is designed with the working range of the manipulator as the constraint condition. In this process, the analytic hierarchy process (AHP) is applied to the multi-objective optimization. The results show that the optimized manipulator has better performance in terms of force operability, acceleration performance and flexibility. The bending form of mechanical arm connecting rod is selected by energy method. It is concluded that the deformation of straight bar is smaller than that of bending bar under the same moving dimension, and this conclusion has been verified by SolidWorks simulation. The strength criterion and the flexural deformation criterion are used to design the cross section dimension of the mechanical arm connecting rod. The function curve of the cross section size of the connecting rod along the length direction of the connecting rod is derived by the same method, and the connecting rod used for the mechanical arm is obtained. When the wall thickness is 0.2 to 0.3 times of the shape size, the effect is the best. Then the kinematics of the designed manipulator is analyzed by homogeneous transformation, and the dynamics is analyzed by Newton-Euler method. In this paper, the trajectory planning of the designed manipulator is carried out, and the five degree polynomial interpolation and acceleration and deceleration interpolation B spline interpolation are used respectively, and the advantages and disadvantages of these three interpolation methods are compared in detail. Finally, a software for the design and analysis of five-DOF manipulator is developed with MATLAB.
【學(xué)位授予單位】：沈陽(yáng)理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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