復雜形狀零部件打磨作業(yè)機器人研究
發(fā)布時間：2018-11-13 20:42
【摘要】：工業(yè)機器人技術(shù)附加值高,應用范圍廣,是高端先進制造裝備產(chǎn)業(yè)的重要組成部分。高端工業(yè)機器人的技術(shù)研發(fā)、制造和應用是衡量國家科技創(chuàng)新和高端裝備制造產(chǎn)業(yè)水平的重要標志,是國家科技發(fā)展的重大戰(zhàn)略需求。在先進制造領(lǐng)域,為了實現(xiàn)高效靈巧加工作業(yè),通常需要加工制造裝備具備五軸加工能力,而合理自由度布局的五自由度作業(yè)機器人即可滿足工件一次裝夾多面加工作業(yè)需求。復合式工業(yè)機器人因兼具串聯(lián)機器人和并聯(lián)機器人各自的優(yōu)點而得到了專家學者的廣泛關(guān)注與研究應用。面向作業(yè)姿態(tài)需要靈活調(diào)整的復雜形狀零部件打磨作業(yè)領(lǐng)域,對于一次裝夾開展多面打磨作業(yè)工況需求,采用復合式五自由度作業(yè)機器人作為加工作業(yè)裝備將是一個很好的解決方案。本文面向復雜形狀零部件打磨作業(yè)需求,設(shè)計研制一種靈巧作業(yè)空間大、作業(yè)姿態(tài)調(diào)整靈巧的復合式五自由度作業(yè)機器人,分別對所研制機器人的機構(gòu)設(shè)計及其運動學與動力學建模、靈巧性分析、軌跡規(guī)劃、打磨作業(yè)刀具路徑規(guī)劃、以及機器人實驗平臺搭建與打磨作業(yè)實驗等方面開展深入研究。在復合式作業(yè)機器人的機構(gòu)設(shè)計及其運動學與動力學建模方面,設(shè)計提出一種復合式五自由度作業(yè)機器人構(gòu)型結(jié)構(gòu)。建立機器人的運動學與動力學模型,提出一種具有唯一解形式的逆向運動學閉式解法,為后續(xù)開展研究提供機器人模型基礎(chǔ)。在復合式作業(yè)機器人的靈巧性分析方面,提出一種基于映射空間包絡(luò)曲面的機器人靈巧性分析方法,分析所設(shè)計提出的作業(yè)機器人的靈巧作業(yè)性能與作業(yè)任務(wù)可執(zhí)行能力。分析總結(jié)影響機器人靈巧作業(yè)性能的結(jié)構(gòu)參數(shù)因素以及與之相關(guān)的結(jié)構(gòu)參數(shù)尺寸設(shè)計優(yōu)化理論依據(jù)。求解機器人的可達工作空間與靈活工作空間。在復合式作業(yè)機器人的打磨作業(yè)任務(wù)軌跡規(guī)劃方面,提出一種非等時長多目標平滑軌跡規(guī)劃方法,針對打磨作業(yè)不同任務(wù)需求可以綜合調(diào)整考慮時間、能耗、加加速度和加速度優(yōu)化目標,能夠規(guī)劃出更多種類打磨作業(yè)任務(wù)的平滑控制軌跡形態(tài)。提出一種機器人動態(tài)承載能力的計算方法,開展機器人動態(tài)承載能力計算求解與機器人實驗平臺測試。在復合式作業(yè)機器人實驗平臺搭建與打磨作業(yè)實驗研究方面,搭建所研制機器人的機械系統(tǒng)和運動控制系統(tǒng)。開展機器人實驗平臺的幾何參數(shù)標定和位置精度及軌跡精度測試。從機器人打磨作業(yè)刀具接觸位置與分層打磨作業(yè)規(guī)劃以及接觸姿態(tài)規(guī)劃方面開展機器人打磨作業(yè)刀具路徑規(guī)劃研究。開展汽車輪轂輻板去毛刺打磨作業(yè)實驗,機器人作業(yè)姿態(tài)可達性驗證實驗,以及汽車轉(zhuǎn)向助力器殼體多面棱邊打磨作業(yè)實驗,驗證機器人優(yōu)良的靈巧作業(yè)性及打磨能力。
[Abstract]:Industrial robot technology with high added value and wide application range is an important part of high-end advanced manufacturing equipment industry. The research and development, manufacture and application of high-end industrial robots are the important symbols to measure the level of national scientific and technological innovation and high-end equipment manufacturing industry, and are important strategic requirements for the development of national science and technology. In the field of advanced manufacturing, in order to realize highly efficient and dexterous machining, it is usually necessary for machining equipment to have five-axis machining capability, and the five-degree-of-freedom robot with reasonable degree of freedom layout can meet the needs of workpiece single-clamping and multi-surface machining. Composite industrial robot has been widely studied and applied by experts and scholars because of its advantages of both serial robot and parallel robot. In the field of parts grinding with complex shape, which needs flexible adjustment of operation posture, it is necessary to carry out multi-sided grinding operation in a single clamping. It will be a good solution to use compound five-DOF robot as processing equipment. In this paper, a complex five-degree-of-freedom robot with large dexterous working space and dexterous attitude adjustment is designed and developed to meet the needs of grinding of parts with complex shape. The mechanism design, kinematics and dynamics modeling, dexterity analysis, trajectory planning, tool path planning of grinding operation, as well as the construction of robot experimental platform and grinding experiment were studied. In the aspect of mechanism design and kinematics and dynamics modeling of compound job robot, a configuration structure of compound five degree of freedom job robot is designed. The kinematics and dynamics model of the robot is established, and a closed inverse kinematics solution with unique solution is proposed, which provides the basis of the robot model for further research. In the aspect of the dexterity analysis of compound job robot, a method of robot dexterity analysis based on mapping space envelope surface is proposed, and the dexterity performance and task executable ability of the designed job robot are analyzed. This paper analyzes and summarizes the structural parameter factors which affect the dexterity performance of the robot and the theoretical basis for the optimization of the structural parameter size design. The reachable workspace and flexible workspace of the robot are solved. In the aspect of task trajectory planning of compound job robot, a non-equal-time multi-objective smooth trajectory planning method is proposed, which can comprehensively adjust the time and energy consumption according to different task requirements of grinding operation. By adding speed and acceleration, the smooth control trajectory of more kinds of grinding tasks can be planned. This paper presents a method to calculate the dynamic bearing capacity of a robot. The calculation of the dynamic bearing capacity of the robot and the test of the robot experimental platform are carried out. The mechanical system and motion control system of the developed robot are set up in the aspect of building the experimental platform and grinding operation experimental research. The calibration of geometric parameters and the measurement of position accuracy and trajectory accuracy of the robot experimental platform are carried out. The cutting tool path planning of robot grinding operation is carried out from the aspects of the contact position and layered grinding operation planning and the contact attitude planning of robot grinding tool. The experiments of deburring and grinding of automobile hub and spoke plate, verification of robot posture accessibility, and multi-sided edge grinding of automobile steering booster shell are carried out to verify the excellent dexterity and polishing ability of the robot.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TP242
[Abstract]:Industrial robot technology with high added value and wide application range is an important part of high-end advanced manufacturing equipment industry. The research and development, manufacture and application of high-end industrial robots are the important symbols to measure the level of national scientific and technological innovation and high-end equipment manufacturing industry, and are important strategic requirements for the development of national science and technology. In the field of advanced manufacturing, in order to realize highly efficient and dexterous machining, it is usually necessary for machining equipment to have five-axis machining capability, and the five-degree-of-freedom robot with reasonable degree of freedom layout can meet the needs of workpiece single-clamping and multi-surface machining. Composite industrial robot has been widely studied and applied by experts and scholars because of its advantages of both serial robot and parallel robot. In the field of parts grinding with complex shape, which needs flexible adjustment of operation posture, it is necessary to carry out multi-sided grinding operation in a single clamping. It will be a good solution to use compound five-DOF robot as processing equipment. In this paper, a complex five-degree-of-freedom robot with large dexterous working space and dexterous attitude adjustment is designed and developed to meet the needs of grinding of parts with complex shape. The mechanism design, kinematics and dynamics modeling, dexterity analysis, trajectory planning, tool path planning of grinding operation, as well as the construction of robot experimental platform and grinding experiment were studied. In the aspect of mechanism design and kinematics and dynamics modeling of compound job robot, a configuration structure of compound five degree of freedom job robot is designed. The kinematics and dynamics model of the robot is established, and a closed inverse kinematics solution with unique solution is proposed, which provides the basis of the robot model for further research. In the aspect of the dexterity analysis of compound job robot, a method of robot dexterity analysis based on mapping space envelope surface is proposed, and the dexterity performance and task executable ability of the designed job robot are analyzed. This paper analyzes and summarizes the structural parameter factors which affect the dexterity performance of the robot and the theoretical basis for the optimization of the structural parameter size design. The reachable workspace and flexible workspace of the robot are solved. In the aspect of task trajectory planning of compound job robot, a non-equal-time multi-objective smooth trajectory planning method is proposed, which can comprehensively adjust the time and energy consumption according to different task requirements of grinding operation. By adding speed and acceleration, the smooth control trajectory of more kinds of grinding tasks can be planned. This paper presents a method to calculate the dynamic bearing capacity of a robot. The calculation of the dynamic bearing capacity of the robot and the test of the robot experimental platform are carried out. The mechanical system and motion control system of the developed robot are set up in the aspect of building the experimental platform and grinding operation experimental research. The calibration of geometric parameters and the measurement of position accuracy and trajectory accuracy of the robot experimental platform are carried out. The cutting tool path planning of robot grinding operation is carried out from the aspects of the contact position and layered grinding operation planning and the contact attitude planning of robot grinding tool. The experiments of deburring and grinding of automobile hub and spoke plate, verification of robot posture accessibility, and multi-sided edge grinding of automobile steering booster shell are carried out to verify the excellent dexterity and polishing ability of the robot.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：博士
【學位授予年份】：2017
【分類號】：TP242
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