【摘要】：隨著工業(yè)自動化的不斷發(fā)展,勞動密集的制造業(yè)開始實(shí)行產(chǎn)業(yè)結(jié)構(gòu)調(diào)整升級,逐步實(shí)現(xiàn)機(jī)器人代替人工進(jìn)行生產(chǎn)作業(yè)。本論文選取中小型沖壓企業(yè)的生產(chǎn)為背景,分析沖壓自動化生產(chǎn)的特點(diǎn)和需求,以4軸串聯(lián)工業(yè)機(jī)器人為研究對象,以提高沖壓生產(chǎn)效率為目的,結(jié)合機(jī)器人運(yùn)動學(xué)和動力學(xué)理論知識,在約束條件下進(jìn)行了基于時(shí)間最優(yōu)的軌跡規(guī)劃研究。本論文在綜述了沖壓自動化技術(shù)和工業(yè)機(jī)器人技術(shù)的基礎(chǔ)下,從落料工藝后單機(jī)單工序生產(chǎn)的工藝過程和現(xiàn)場條件出發(fā),由沖壓自動化生產(chǎn)與工業(yè)機(jī)器人應(yīng)用的結(jié)合,對單機(jī)單工序的沖壓生產(chǎn)進(jìn)行了詳細(xì)的需求分析。結(jié)合機(jī)器人理論知識,采用D-H法對一種4軸機(jī)器人建立連桿坐標(biāo)系,列出關(guān)節(jié)變換矩陣和運(yùn)動學(xué)方程。采用牛頓-歐拉法對機(jī)器人進(jìn)行動力學(xué)研究,建立機(jī)器人的動力學(xué)模型。然后針對機(jī)器人的自動上下料過程,運(yùn)用5次多項(xiàng)式插值法擬合關(guān)節(jié)位移軌跡,以沖壓過程單周期運(yùn)行時(shí)間最短為優(yōu)化目標(biāo),以機(jī)器人關(guān)節(jié)驅(qū)動力、驅(qū)動速度和工藝過程為約束條件建立軌跡優(yōu)化數(shù)學(xué)模型,采用二分法進(jìn)行優(yōu)化計(jì)算,求出各關(guān)節(jié)單周期運(yùn)行時(shí)間最優(yōu)軌跡,并以ADAMS軟件對關(guān)節(jié)軌跡進(jìn)行了運(yùn)動仿真。最后以PLC控制的實(shí)驗(yàn)平臺進(jìn)行了軌跡優(yōu)化對比實(shí)驗(yàn),并分析了機(jī)器人的工作效率。研究表明,通過對機(jī)器人運(yùn)動過程進(jìn)行時(shí)間優(yōu)化,可以進(jìn)一步提高機(jī)器人在沖壓生產(chǎn)中的效率,論文所采用的單周期時(shí)間最優(yōu)軌跡規(guī)劃方法實(shí)現(xiàn)過程簡單、機(jī)器人控制效果良好,具有在沖壓自動化生產(chǎn)中推廣應(yīng)用的價(jià)值。
[Abstract]:With the development of the industrial automation, the labor-intensive manufacturing industry has started to carry out the industrial structural adjustment and upgrade, and gradually realized the robot to replace the manual production operation. The paper selects the production of small and medium-sized stamping enterprises as the background, analyzes the characteristics and requirements of the automatic production of the stamping, and takes the 4-axis serial industrial robot as the research object to improve the efficiency of the stamping production, and combines the theoretical knowledge of the kinematics and dynamics of the robot. The study of trajectory planning based on time-optimal is carried out under the constraint conditions. Based on the review of the technology of punching automation and the technology of industrial robot, this paper, from the process of single-process production and on-site conditions of single-process, is combined with the application of industrial robot. The stamping production of single-unit single-process is analyzed in detail. In combination with the theory of the robot, the D-H method is adopted to establish a connecting-rod coordinate system for a four-axis robot, and the joint transformation matrix and the kinematic equation are listed. The dynamics of the robot is studied by the Newton-Euler method, and the dynamic model of the robot is established. then, aiming at the automatic loading and unloading process of the robot, the joint displacement track is fitted by using a five-time polynomial interpolation method, the operation time of the single cycle of the stamping process is the shortest as an optimization target, a trajectory optimization mathematical model is established based on the constraint conditions of the driving force, the driving speed and the process process of the robot, The optimal trajectory of each joint single-cycle running time is obtained by using the dichotomy, and the joint trajectory is simulated with the ADAMS software. Finally, the experiment of trajectory optimization is carried out in the experiment platform controlled by PLC, and the working efficiency of the robot is analyzed. The research shows that by the time optimization of the robot motion process, the efficiency of the robot in the stamping production can be further improved, the single cycle time optimal trajectory planning method adopted by the paper is simple, the robot control effect is good, And has the advantages of being popularized and applied in the automatic production of the stamping.
【學(xué)位授予單位】：武漢紡織大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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