【摘要】：現(xiàn)行碼垛機(jī)器人以串聯(lián)式為主,具有工作空間大的優(yōu)點(diǎn),但不足在于各關(guān)節(jié)處均裝有驅(qū)動(dòng)電機(jī)及減速器,使得機(jī)器人轉(zhuǎn)動(dòng)慣量大,導(dǎo)致動(dòng)態(tài)性能不佳。本文提出一種新型的碼垛機(jī)器人,利用多個(gè)平行可控四連桿機(jī)構(gòu),將主要的驅(qū)動(dòng)電機(jī)、減速器等零組件置于機(jī)架或底座上,使原本被安裝于串聯(lián)式機(jī)器人關(guān)節(jié)處的電機(jī)及減速器位置高度得以大幅降低,減少了機(jī)械臂自身負(fù)載,以期改善關(guān)節(jié)鉸接處出現(xiàn)的慣量大、整機(jī)剛度差等問(wèn)題,為提升碼垛機(jī)器人動(dòng)態(tài)性能提供一種設(shè)計(jì)思路。本文對(duì)提出的碼垛機(jī)器人展開(kāi)了機(jī)構(gòu)設(shè)計(jì),運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)研究,包括考慮運(yùn)動(dòng)副間隙的機(jī)構(gòu)運(yùn)動(dòng)特性以及機(jī)器人模態(tài)仿真分析等。運(yùn)用D-H法、代數(shù)封閉解法對(duì)機(jī)器人的位置正、逆解問(wèn)題進(jìn)行了分析驗(yàn)算,通過(guò)微分運(yùn)動(dòng)法求解了機(jī)器人的速度問(wèn)題,并對(duì)機(jī)器人的正、逆向運(yùn)動(dòng)學(xué)進(jìn)行了數(shù)值仿真,同時(shí),采用軟件編程計(jì)算得到機(jī)器人的理論工作空間,驗(yàn)證機(jī)構(gòu)設(shè)計(jì)的合理性;在進(jìn)行機(jī)器人動(dòng)力學(xué)研究時(shí),考慮關(guān)節(jié)柔性帶來(lái)的影響,對(duì)機(jī)器人進(jìn)行剛?cè)狁詈蟿?dòng)力學(xué)建模并開(kāi)展了仿真分析;此外,針對(duì)運(yùn)動(dòng)副的間隙問(wèn)題,采用二狀態(tài)間隙模型對(duì)簡(jiǎn)化后的碼垛機(jī)器人機(jī)構(gòu)展開(kāi)了運(yùn)動(dòng)特性分析與仿真研究,通過(guò)對(duì)比分析有無(wú)運(yùn)動(dòng)副間隙時(shí)機(jī)構(gòu)的運(yùn)動(dòng)仿真結(jié)果,發(fā)現(xiàn)運(yùn)動(dòng)副間隙的存在對(duì)機(jī)構(gòu)運(yùn)行的平穩(wěn)度及精度有較大影響;最后,借助有限元軟件經(jīng)過(guò)模態(tài)仿真研究,得到了機(jī)器人三個(gè)典型位姿下的前六階模態(tài)固有頻率數(shù)值、最大變形量及振型圖,根據(jù)各階模態(tài)下機(jī)器人所表現(xiàn)出的振動(dòng)形態(tài)特征,為避免機(jī)器人構(gòu)件發(fā)生大變形、整機(jī)產(chǎn)生共振等振動(dòng)故障提供預(yù)報(bào)和判斷依據(jù)。
[Abstract]:The current palletizing robot is mainly series, which has the advantage of large workspace, but the deficiency lies in that each joint is equipped with drive motor and reducer, which makes the robot's moment of inertia large and leads to poor dynamic performance. In this paper, a new type of palletizing robot is presented, in which several parallel controllable four-bar mechanisms are used to place the main drive motor, reducer and other components on the frame or base. The position height of the motor and reducer installed at the joint of the series robot can be greatly reduced, and the load of the manipulator itself can be reduced, so as to improve the problems of large inertia and poor stiffness of the whole machine at the joint. It provides a design idea for improving the dynamic performance of palletizing robot. In this paper, the mechanism design, kinematics and dynamics of the proposed palletizing robot are studied, including the kinematic characteristics of the mechanism considering the clearance of the kinematic pair and the modal simulation analysis of the robot, etc. In this paper, the direct and inverse solutions of the robot are analyzed and checked by using the DH method and the algebraic closure method. The velocity problem of the robot is solved by the differential motion method, and the forward and inverse kinematics of the robot are simulated numerically, at the same time, the forward and inverse kinematics of the robot are simulated. The theoretical workspace of the robot is calculated by software programming, and the rationality of the mechanism design is verified. In the research of robot dynamics, considering the influence of joint flexibility, the rigid-flexible coupling dynamics modeling of robot is carried out and the simulation analysis is carried out. In addition, a two-state gap model is used to analyze and simulate the kinematic characteristics of the simplified palletizing robot mechanism, and the simulation results of the mechanism with or without the clearance of the palletizing robot are analyzed by comparing the two-state gap model with or without the clearance of the palletizing robot. It is found that the existence of the clearance has a great influence on the stability and accuracy of the mechanism. Finally, with the aid of finite element software and modal simulation, the first six modal natural frequency values, maximum deformation and mode shapes of the robot in three typical positions are obtained, and according to the vibration morphological characteristics of the robot under each modal, the first six modal natural frequencies, the maximum deformation and the mode shape diagram of the robot are obtained under the three typical positions of the robot. In order to avoid large deformation of robot components and vibration faults such as resonance of the whole machine, the prediction and judgment basis are provided.
【學(xué)位授予單位】：廣西大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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