重载工业机器人机构设计与性能保障,机械工程硕士论文.docx
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1、重载工业机器人机构设计与性能保障,机械工程硕士论文摘 要 重载工业机器人能代替人工在高危恶劣的环境下进行重载作业,具有负载大、工作效率高、稳定性好等优势。针对于广泛应用的重载工业机器人而言,怎样保障工作性能是该领域的研究热门之一。本文以提高重载工业机器人的性能为目的,开展重载工业机器人概念设计、运动学与动力学分析、性能指标分析、轨迹规划等方面的研究,论文的主要工作内容与研究成果如下: 针对各个工程领域对高性能重载工业机器人的应用需求,考虑机器人本体自重、负载能力、构造刚度和工作空间等设计要求,以构造平衡设计、轻量化设计以及可重构设计为思路,对高性能重载工业机器人进行概念设计,提出一系列重载工业
2、机器人构型方案。以层次分析法为理论基础,从本体自重、负载能力、所占空间、机构刚度、受力性能及工作空间六方面对设计的构型方案进行分析和评价,分析遴选出最优方案连杆-丝杠传动平衡式重载工业机器人作为研究对象。 对连杆-丝杠传动平衡式重载工业机器人进行运动学分析,采用 D-H 法建立机器人构造参数模型,求解机器人运动学正解和反解,分析各关节的角位移、角速度、角加速度和角跃度。采用蒙特卡洛随机采样法分析机器人的工作空间,得到机器人工作空间的立体图。在给定特定的运动轨迹与运动周期条件下对运动学模型进行计算仿真,验证机器人的运动趋势。 采用拉格朗日方程法分别对连杆-丝杠传动平衡式重载工业机器人与典型双平行
3、四边形重载工业机器人进行动力学建模,分析机器人各杆件的动能和势能,推导机器人系统刚体动力学方程中惯量矩阵、Coriolis 力和离心力矩阵以及重力项矩阵,求解各关节驱动力矩的表示出式。给定机器人构造参数对这两种构造机器人动力学进行计算仿真并比照分析仿真结果。 从运动学、动力学的角度考虑,提出各关节力矩、条件数、承载能力、功率和能耗等指标对连杆-丝杆传动平衡式重载工业机器人进行性能评估。以重载码垛任务为例对机器人进行基于能耗最优的轨迹规划,以机器人运行经过中消耗的总能量为目的函数,以运行时间、电机转速及电机输出力为约束,同时考虑减少机器人末端残存余留振动,保证运行结束机会器人末端的加速度为零,运
4、用龙格库塔方式方法与多重打靶法在全局范围内求取能耗最低的运动轨迹并进行仿真分析。结果表示清楚进行能耗最优轨迹规划后机器人的总能耗明显降低。 分别将 Solid Works软件中建立的连杆-丝杠传动平衡式重载工业机器人与双平行四边形重载工业机器人三维模型导入 ADAMS软件中建立其虚拟样机模型,导入测试数据对两种重载工业机器人进行虚拟样机仿真,包括运动学仿真与动力学仿真。仿真结果与理论模型趋势一致,进而验证了理论模型的正确性。 本文关键词语 : 重载工业机器人;概念设计;运动学;动力学;性能评估;轨迹规划。 ABSTRACT Heavy duty industrial robot can rep
5、lace manual work in high-risk and harshenvironment. It has the advantages of large load, high efficiency and good stability. For the widely used heavy duty industrial robot, how to guarantee the workingperformance is one of the research hotspots in this field. In order to improve theperformance of h
6、eavy-duty industrial robot, this paper studies the conceptual design,kinematics and dynamics analysis, performance index analysis and trajectory planningof heavy-duty industrial robot. The main contents and research results are as follows: According to the application requirements of high-performanc
7、e heavy-dutyindustrial robots in various engineering fields, considering the designrequirements of robot body weight, load capacity, structural stiffness andworkspace, the conceptual design of high-performance heavy-duty industrialrobot is carried out based on the idea of structural balance design,
8、lightweightdesign and reconfigurable design, and a series of configuration schemes ofheavy-duty industrial robot are proposed. Based on the analytic hierarchy process(AHP), this paper analyzes and evaluates the design scheme from six aspects: body weight, load capacity, occupied space, mechanism sti
9、ffness, mechanicalperformance and workspace, and selects the optimal scheme connecting rod leadscrew drive balanced heavy-duty industrial robot as the research object. Kinematics analysis of balanced heavy-duty industrial robot driven by connectingrod and lead screw is carried out. The D-H method is
10、 used to establish thestructure parameter model of the robot. The forward and inverse kinematicssolutions of the robot are solved, and the angular displacement, angular velocity,angular acceleration and angular jump of each joint are analyzed. Monte Carlorandom sampling method is used to analyze the
11、 workspace of the robot, and thestereogram of the workspace is obtained. The kinematics model is simulated in agiven trajectory and period to verify the movement trend of the robot. Lagrange equation method is used to model the dynamics of the balancedheavy-duty industrial robot driven by connecting
12、 rod and lead screw and thetypical double parallelogram heavy-duty industrial robot. The kinetic energy andpotential energy of each link of the robot are analyzed. The inertia matrix,Coriolis force, centrifugal force matrix and gravity term matrix in the rigid bodydynamics equation of the robot syst
13、em are derived, and the expressions of drivingtorque of each joint are solved. Given the structure parameters of the robot, thedynamics of the two kinds of structure robots are calculated and simulated, andthe simulation results are compared and analyzed. From the perspective of kinematics and dynam
14、ics, the joint torque, conditionnumber, carrying capacity, power and energy consumption are proposed toevaluate the performance of the link screw drive heavy-duty industrial robot. Taking the heavy load palletizing task as an example, the trajectory planning of the robot based on the optimal energy
15、consumption is carried out. The totalenergy consumed during the operation of the robot is taken as the objectivefunction, and the running time, motor speed and motor output force are taken asconstraints. At the same time, the residual vibration at the end of the robot isconsidered to reduce to ensur
16、e that the acceleration at the end of the operation iszero, The Runge Kutta method and multiple shooting method are used to obtainthe lowest energy consumption trajectory in the global range, and the simulationanalysis is carried out. The results show that the total energy consumption of therobot is
17、 significantly reduced after energy consumption optimal trajectoryplanning. The three-dimensional models of connecting rod lead screw drive balancedheavy-duty industrial robot and double parallelogram heavy-duty industrial robotestablished in Solid Works software are imported into ADAMS software toe
18、stablish their virtual prototype models. The test data are imported to simulate thevirtual prototype of the two heavy-duty industrial robots, including kinematicssimulation and dynamics simulation. The simulation results are basicallyconsistent with the trend of the theoretical model, which verifies
19、 the correctnessof the theoretical model. Keywords : Heavy duty industrial robot; Conceptual design; Kinematics; Dynamics;Performance evaluation; Trajectory planning。 文章为硕士论文,如需全文请点击底部下载全文链接】 1.2 国内外研究现在状况. 1.2.1 重载工业机器人发展大概情况. 1.2.2 重载工业机器人构造设计. 1.2.3重载工业机器人性能指标 1.2.4 重载工业机器人轨迹规划. 1.2.5 虚拟样机技术. 1.3
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