【摘要】：工業(yè)機(jī)器人與工業(yè)自動(dòng)化水平聯(lián)系緊密,憑借自動(dòng)化水平不斷提高,工業(yè)機(jī)器人技術(shù)在制造業(yè)等領(lǐng)域的使用也越來(lái)越廣泛。根據(jù)工作場(chǎng)合不同,工業(yè)機(jī)器人的結(jié)構(gòu)也各有千秋,正確的結(jié)構(gòu)形式可以提高機(jī)器人的效率精度和靈活性。機(jī)器人運(yùn)動(dòng)學(xué)是研究各連桿與關(guān)節(jié)彼此間相對(duì)位置及相對(duì)運(yùn)動(dòng)的規(guī)律;機(jī)器人軌跡規(guī)劃是將工作人員輸入的任務(wù)描述轉(zhuǎn)換成詳細(xì)的運(yùn)動(dòng)軌跡描述。只有合理的結(jié)構(gòu)設(shè)計(jì)、正確的運(yùn)動(dòng)仿真和完整的軌跡規(guī)劃才能使機(jī)器人順利完成工作任務(wù)。本文研究從上述三個(gè)方面入手:首先,根據(jù)工作任務(wù)要求與技術(shù)參數(shù),本文完成了一個(gè)六關(guān)節(jié)的工業(yè)機(jī)器人本體結(jié)構(gòu)的初步設(shè)計(jì),建立其三維模型,并對(duì)機(jī)器人的主要部件進(jìn)行研究設(shè)計(jì)。之后,根據(jù)材料要求,確定主要部件的使用材料。結(jié)構(gòu)與材料設(shè)計(jì)完成后,結(jié)合有限元法對(duì)機(jī)器人的臂部件進(jìn)行強(qiáng)度校核。此外,論文對(duì)機(jī)器人的驅(qū)動(dòng)系統(tǒng)和傳動(dòng)機(jī)構(gòu)進(jìn)行了研究。其次,本文對(duì)機(jī)器人運(yùn)動(dòng)學(xué)進(jìn)行研究。在機(jī)器人運(yùn)動(dòng)學(xué)中,D-H理論是推導(dǎo)運(yùn)動(dòng)學(xué)方程的基礎(chǔ),研究先圍繞D-H理論展開(kāi)并創(chuàng)建機(jī)器人的D-H運(yùn)動(dòng)模型,通過(guò)坐標(biāo)變換推導(dǎo)出運(yùn)動(dòng)學(xué)方程,再計(jì)算其正解與逆解及雅克比矩陣。工作空間是衡量機(jī)器人工作性能的重要指標(biāo),本文先對(duì)工作空間的理論進(jìn)行研究,再利用軟件進(jìn)行仿真,得到工作空間的三維點(diǎn)云。章節(jié)最后對(duì)機(jī)器人正逆運(yùn)動(dòng)學(xué)兩種情況分別進(jìn)行仿真比較。最后,本文對(duì)機(jī)器人的軌跡規(guī)劃進(jìn)行研究,對(duì)機(jī)器人的軌跡和路徑等概念進(jìn)行闡述。軌跡規(guī)劃分為關(guān)節(jié)空間和笛卡爾空間兩種情況,故分別對(duì)兩種情況下的軌跡插值方法進(jìn)行研究,并對(duì)關(guān)節(jié)空間下的三次多項(xiàng)式插值與五次多項(xiàng)式插值兩種方法進(jìn)行仿真,對(duì)二者的優(yōu)缺點(diǎn)進(jìn)行比較。
[Abstract]:Industrial robots are closely related to the level of industrial automation. With the continuous improvement of the level of automation, industrial robot technology in manufacturing and other fields are more and more widely used. According to the work situation, the industrial robot has its own structure, and the correct structure can improve the efficiency, precision and flexibility of the robot. Robot kinematics is to study the relative position and relative motion of each link and joint, and the robot trajectory planning is to convert the task description input by the worker into the detailed motion trajectory description. Only by reasonable structure design, correct motion simulation and complete trajectory planning can the robot complete the task successfully. This paper begins with the above three aspects: firstly, according to the task requirements and technical parameters, this paper completes the preliminary design of the body structure of a six-joint industrial robot, and establishes its three-dimensional model. The main components of the robot are studied and designed. Then, according to the material requirements, determine the main parts of the use of materials. After the structure and material design are finished, the strength of the arm parts of the robot is checked with the finite element method. In addition, the driving system and transmission mechanism of the robot are studied in this paper. Secondly, the kinematics of robot is studied in this paper. The D-H theory is the basis of the derivation of kinematics equation in robot kinematics. The D-H motion model of the robot is first developed around D-H theory and the kinematic equation is derived by coordinate transformation, and then the forward and inverse solutions and Jacobian matrix are calculated. Workspace is an important index to measure the performance of robot. In this paper, the theory of workspace is studied firstly, and then the 3D point cloud of workspace is obtained by software simulation. At the end of the chapter, the forward and inverse kinematics of the robot are simulated and compared. Finally, the trajectory planning of the robot is studied, and the concepts of the trajectory and path of the robot are expounded. Trajectory planning is divided into joint space and Cartesian space, so the trajectory interpolation methods in two cases are studied, and the cubic polynomial interpolation and the fifth polynomial interpolation in joint space are simulated. The advantages and disadvantages of the two are compared.
【學(xué)位授予單位】：沈陽(yáng)工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242.2

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