本文關(guān)鍵詞： 5R工業(yè)機(jī)器人 運(yùn)動(dòng)學(xué)分析 軌跡規(guī)劃 MATLAB ADAMS　出處：《安徽理工大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：工業(yè)機(jī)器人技術(shù)的發(fā)展變的越來(lái)越快,其應(yīng)用領(lǐng)域也越來(lái)越廣泛。因此對(duì)于工業(yè)機(jī)器人的研究將變的越來(lái)越重要。而現(xiàn)如今推進(jìn)工業(yè)機(jī)器人研究發(fā)展的重要手段就是機(jī)器人仿真技術(shù)。本文以一種五自由度工業(yè)機(jī)器人為研究對(duì)象,對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)理論分析及仿真研究,并對(duì)其進(jìn)行了軌跡規(guī)劃仿真研究。首先闡述了機(jī)器人運(yùn)動(dòng)學(xué)的數(shù)理基礎(chǔ)。介紹了機(jī)器人的位姿描述,齊次變換及運(yùn)算,以及機(jī)器人運(yùn)動(dòng)學(xué)的D-H表示法,為后期建立工業(yè)機(jī)器人運(yùn)動(dòng)學(xué)方程以及構(gòu)建機(jī)器人連桿坐標(biāo)系奠定基礎(chǔ)。其次根據(jù)本次研究的五自由度工業(yè)機(jī)器人的結(jié)構(gòu)尺寸,運(yùn)用D-H表示法建立機(jī)器人連桿坐標(biāo)系。然后利用齊次變換法構(gòu)建了五自由度機(jī)器人的運(yùn)動(dòng)學(xué)數(shù)學(xué)方程。對(duì)該機(jī)器人的正向運(yùn)動(dòng)學(xué)方程和逆向運(yùn)動(dòng)學(xué)方程進(jìn)行求解。再次根據(jù)D-H表示法建立的連桿坐標(biāo)系。利用MATLAB軟件平臺(tái)的Robotics Toolbox機(jī)器人工具箱對(duì)工業(yè)機(jī)器人進(jìn)行模型的構(gòu)建。在該模型的基礎(chǔ)上進(jìn)行了運(yùn)動(dòng)學(xué)正逆解的仿真計(jì)算。然后對(duì)工業(yè)機(jī)器人進(jìn)行軌跡規(guī)劃與仿真。本文主要是對(duì)關(guān)節(jié)空間的軌跡規(guī)劃方法進(jìn)行了研究。利用MATLAB對(duì)機(jī)器人進(jìn)行特定兩點(diǎn)之間的仿真,使其以特定的軌跡完成運(yùn)動(dòng)。在軌跡規(guī)劃仿真過(guò)程中,得到其運(yùn)動(dòng)過(guò)程中相關(guān)參數(shù)的曲線數(shù)據(jù),為實(shí)體機(jī)器人的設(shè)計(jì)提供了參考數(shù)據(jù)。最后對(duì)ADAMS仿真軟件進(jìn)行了簡(jiǎn)單介紹。由于ADAMS軟件很難建立復(fù)雜的實(shí)體三維模型,利用Solidworks平臺(tái)來(lái)建立工業(yè)機(jī)器人的模型并對(duì)模型進(jìn)行了一定的簡(jiǎn)化并將模型以Parasolid格式輸出。把此文件導(dǎo)入到ADAMS平臺(tái),在ADAMS/View模塊中,設(shè)置工作環(huán)境,修改實(shí)體模型,創(chuàng)建運(yùn)動(dòng)約束,完成虛擬樣機(jī)的構(gòu)建。對(duì)該虛擬樣機(jī)進(jìn)行運(yùn)動(dòng)學(xué)仿真分析,得到機(jī)器人末端位移隨時(shí)間的變化曲線,以及各個(gè)關(guān)節(jié)角的位移,速度,加速度隨時(shí)間的變化曲線。通過(guò)所得到的相關(guān)參數(shù)的曲線數(shù)據(jù),對(duì)機(jī)器人運(yùn)動(dòng)情況得到深入了解。同時(shí)得到機(jī)器人末端分別在X軸,Y軸,Z軸上的位移隨時(shí)間的變化曲線。將上述曲線與各個(gè)關(guān)節(jié)角位移的變化曲線合并到一個(gè)圖表上。由此可得到仿真過(guò)程中任一時(shí)刻關(guān)節(jié)角與末端位姿的變化關(guān)系,從而完成了對(duì)運(yùn)動(dòng)學(xué)方程解的驗(yàn)證。
[Abstract]:The development of industrial robot technology is getting faster and faster. Therefore, the research of industrial robot will become more and more important. Now, the important means to promote the research and development of industrial robot is robot simulation technology. From the industrial robot as the research object, The kinematics theory analysis and simulation research are carried out, and the trajectory planning simulation is carried out. Firstly, the mathematical basis of robot kinematics is expounded, and the position and pose description, homogeneous transformation and operation of the robot are introduced. The D-H representation of robot kinematics lays the foundation for establishing kinematics equation of industrial robot and constructing robot connecting rod coordinate system. Secondly, according to the structure size of industrial robot with five degrees of freedom, The kinematics mathematical equation of the robot with five degrees of freedom is constructed by using the homogeneous transformation method. The forward kinematics equation and the inverse kinematics equation of the robot are solved. The model of industrial robot is constructed by using the Robotics Toolbox robot toolbox of MATLAB software platform, and the kinematics forward and inverse solution is simulated on the basis of the model. Then, the trajectory planning and simulation of industrial robot are carried out. In this paper, the trajectory planning method of joint space is studied. The robot is simulated by MATLAB between two specific two points. In the course of trajectory planning simulation, the curve data of relevant parameters in the course of trajectory planning are obtained. This paper provides reference data for the design of solid robot. Finally, the ADAMS simulation software is introduced briefly. Because ADAMS software is difficult to set up complex solid 3D model, The model of industrial robot is established by using Solidworks platform, and the model is simplified and exported in Parasolid format. The file is imported into ADAMS platform. In the ADAMS/View module, the working environment is set up, the entity model is modified, and the motion constraint is created. The kinematics simulation analysis of the virtual prototype is carried out, and the displacement curve of the robot end with time, the displacement and velocity of each joint angle are obtained. Acceleration versus time curve. Through the obtained curve data of related parameters, At the same time, the displacement curves of the end of the robot on the X axis and Y axis Z axis are obtained. The above curve is combined with the curve of the angular displacement of each joint into one diagram. The relation between the angle of the joint and the pose of the end of the joint can be obtained at any time during the simulation. Thus, the solution of kinematics equation is verified.
【學(xué)位授予單位】：安徽理工大學(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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