本文關(guān)鍵詞： 四軸沖壓上下料機(jī)器人 優(yōu)化設(shè)計(jì) 模態(tài)分析 軌跡規(guī)劃　出處：《江蘇大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著制造業(yè)的高速發(fā)展,傳統(tǒng)沖壓生產(chǎn)線由于用工成本上升、效率低以及安全性差等原因,已經(jīng)越來越不能滿足沖壓企業(yè)的發(fā)展需求。同時(shí),沖壓零件也呈現(xiàn)出小批量、多品種的發(fā)展趨勢(shì)。采用機(jī)器人組成柔性自動(dòng)化生產(chǎn)線已成為企業(yè)代替?zhèn)鹘y(tǒng)生產(chǎn)線的首選方式。然而常見的關(guān)節(jié)式?jīng)_壓上下料機(jī)器人存在價(jià)格昂貴、維護(hù)困難等問題,不適于中小型沖壓企業(yè)使用,為此,本課題開發(fā)了一種價(jià)格適宜、靈活性好、維護(hù)方便的沖壓上下料機(jī)器人,并對(duì)其機(jī)構(gòu)設(shè)計(jì)、零件輕量化、結(jié)構(gòu)優(yōu)化設(shè)計(jì)、運(yùn)動(dòng)學(xué)分析、軌跡規(guī)劃等關(guān)鍵技術(shù)進(jìn)行了研究。具體研究?jī)?nèi)容如下:首先,對(duì)沖壓生產(chǎn)線工藝流程進(jìn)行分析,確定沖壓上下料機(jī)器人的設(shè)計(jì)參數(shù),并以此為基礎(chǔ)確定了機(jī)器人本體結(jié)構(gòu)與傳動(dòng)機(jī)構(gòu)的設(shè)計(jì)方案。使用Solidworks構(gòu)建了四軸沖壓上下料機(jī)器人的三維模型,并完成了各軸伺服電機(jī)的選型計(jì)算。同時(shí)根據(jù)配套壓機(jī)模具設(shè)計(jì)了端拾器。其次,針對(duì)機(jī)器人的機(jī)械結(jié)構(gòu)部分。利用Ansys Workbench對(duì)關(guān)鍵零部件進(jìn)行了靜強(qiáng)度分析,并在確保零件強(qiáng)度的達(dá)標(biāo)的情況下對(duì)零件拓?fù)鋬?yōu)化,來達(dá)到輕量化的設(shè)計(jì)目標(biāo)。同時(shí)對(duì)小臂進(jìn)行了多目標(biāo)優(yōu)化,在保證變形條件與強(qiáng)度條件達(dá)標(biāo)的前提下最大程度的降低小臂質(zhì)量。最后對(duì)機(jī)器人整體結(jié)構(gòu)在初始位置與極限位置進(jìn)行了模態(tài)分析,根據(jù)分析結(jié)果得出伺服電機(jī)運(yùn)轉(zhuǎn)時(shí)應(yīng)避開的轉(zhuǎn)速。最后,針對(duì)機(jī)器人的傳動(dòng)機(jī)構(gòu)部分。先運(yùn)用D-H法構(gòu)建了四軸沖壓上下料機(jī)器人的連桿坐標(biāo)系,并在此基礎(chǔ)上完成了正、逆向運(yùn)動(dòng)學(xué)求解。再使用ADAMS對(duì)實(shí)際工況下機(jī)器人的上下料動(dòng)作完成了運(yùn)動(dòng)學(xué)仿真,取得端拾器的位移、速度以及加速度曲線,從而驗(yàn)證設(shè)計(jì)的合理性,并利用樣機(jī)生產(chǎn)實(shí)驗(yàn)來驗(yàn)證了理論設(shè)計(jì)的正確性。最后在關(guān)節(jié)空間與直角坐標(biāo)空間對(duì)機(jī)器人進(jìn)行了軌跡規(guī)劃研究。在關(guān)節(jié)空間對(duì)三次多項(xiàng)式插值、五次多項(xiàng)式插值以及“353”多項(xiàng)式插值進(jìn)行了闡述與仿真,結(jié)果驗(yàn)證了在關(guān)節(jié)空間采用高低次結(jié)合的多項(xiàng)式插值優(yōu)于單一多項(xiàng)式插值。在直角坐標(biāo)空間對(duì)直線插補(bǔ)進(jìn)行了闡述與仿真,驗(yàn)證了在壓力機(jī)內(nèi)部采用直線插補(bǔ)可以保證端拾器的軌跡為直線,從而避免在壓力機(jī)內(nèi)部發(fā)生碰撞。
[Abstract]:With the rapid development of manufacturing industry, the traditional stamping production line has been more and more unable to meet the needs of stamping enterprises because of the rising cost of employment, low efficiency and poor security. Stamping parts also show small batches. Flexible automatic production line composed of robots has become the first choice for enterprises to replace the traditional production line. However, the common joint stamping loading and unloading robot is expensive. Difficult maintenance is not suitable for small and medium-sized stamping enterprises. Therefore, a kind of stamping loading and unloading robot with suitable price, good flexibility and convenient maintenance has been developed, and its mechanism design, parts lightweight. Structural optimization, kinematics analysis, trajectory planning and other key technologies are studied. The specific research contents are as follows: firstly, the process of stamping production line is analyzed. The design parameters of stamping loading and unloading robot are determined. On the basis of this, the design scheme of the robot body structure and transmission mechanism is determined, and the three-dimensional model of the four-axis stamping loading and unloading robot is constructed by using Solidworks. And completed each axis servo motor type selection calculation. At the same time according to the matching press die design end pick up. Secondly. Aiming at the mechanical structure of the robot, the static strength analysis of the key parts is carried out by using Ansys Workbench, and the topology of the parts is optimized under the condition that the strength of the parts is up to the standard. To achieve the lightweight design goal. At the same time, multi-objective optimization of the forearm is carried out. In order to ensure the deformation and strength conditions to meet the requirements of the maximum reduction of the mass of the forearm. Finally, the overall structure of the robot in the initial position and the limit position of modal analysis. According to the analysis results, the rotation speed should be avoided when the servo motor is running. Finally, aiming at the transmission mechanism of the robot, the connecting rod coordinate system of the four-axis stamping loading and unloading robot is constructed by using D-H method. On this basis, the forward and reverse kinematics solutions are completed. Then, the kinematics simulation of the loading and unloading of the robot under actual working conditions is completed using ADAMS, and the displacement, velocity and acceleration curves of the end pickers are obtained. In order to verify the rationality of the design. Finally, the trajectory planning of robot is studied in the joint space and the rectangular coordinate space, and the cubic polynomial interpolation is done in the joint space. The fifth degree polynomial interpolation and "353" polynomial interpolation are described and simulated. The results show that the polynomial interpolation is better than the single polynomial interpolation in the joint space, and the linear interpolation is described and simulated in the rectangular coordinate space. It is verified that the trajectory of the end collector can be kept straight by linear interpolation inside the press, thus avoiding the collision within the press.
【學(xué)位授予單位】：江蘇大學(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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