六自由度焊接機(jī)器人虛擬設(shè)計(jì)及仿真分析

23000字 57頁(yè)

我自己的畢業(yè)設(shè)計(jì)作品，確保原創(chuàng)，大家放心使用！

目 錄
摘 要 2
Abstract 3
第一章 緒論 4
1.1 引言 4
1.2 焊接機(jī)器人的發(fā)展和研究現(xiàn)狀 5
1.2.1 焊接機(jī)器人的發(fā)展歷程 5
1.2.2 國(guó)內(nèi)外的發(fā)展?fàn)顩r 6
1.3 工業(yè)機(jī)器人的組成結(jié)構(gòu)與特點(diǎn) 7
1.3.1 工業(yè)機(jī)器人的組成結(jié)構(gòu) 7
1.3.2 工業(yè)機(jī)器人的主要特點(diǎn) 9
1.3.3 焊接機(jī)器人的運(yùn)用 10
1.3.4 焊接機(jī)器人的分類(lèi) 11
1.4 課題研究的背景和意義 12
1.5 本論文的研究?jī)?nèi)容 13
第2章 焊接機(jī)器人幾何構(gòu)型和傳動(dòng)方案的設(shè)計(jì) 13
2.1引言 13
2.2 焊接機(jī)器人的基本設(shè)計(jì)參數(shù) 14
2.3 焊接機(jī)器人總體方案設(shè)計(jì) 14
2.4 焊接機(jī)器人傳動(dòng)方案設(shè)計(jì) 15
2.4.1 驅(qū)動(dòng)方式的選擇 15
2.4.2機(jī)器人腰關(guān)節(jié)傳動(dòng)的設(shè)計(jì) 15
2.4.3機(jī)器人肩關(guān)節(jié)和肘關(guān)節(jié)傳動(dòng)的設(shè)計(jì) 17
2.4.4 機(jī)器人腕部俯仰結(jié)構(gòu)傳動(dòng)的設(shè)計(jì) 18
2.5 本章小結(jié) 19
第3章 焊接機(jī)器人本體設(shè)計(jì) 20
3.1 引言 20
3.2 焊接機(jī)器人的設(shè)計(jì)要求 20
3.3 本體材料的選擇 20
3.4傳動(dòng)裝置中各部件型號(hào)的選型 21
3.5諧波減速器的設(shè)計(jì) 23
3.6各模塊的具體結(jié)構(gòu)設(shè)計(jì) 25
3.6.1 肩關(guān)節(jié)模塊 25
3.6.2 大臂模塊 26
3.6.3腰部模塊 27
3.6.4底座模塊 28
3.7焊接機(jī)器人整機(jī)虛擬裝配 29
3.8 本章小結(jié) 31
第四章 焊接機(jī)器人運(yùn)動(dòng)學(xué) 32
4.1 機(jī)器人運(yùn)動(dòng)學(xué)概述 32
4.2 運(yùn)動(dòng)學(xué)正問(wèn)題 32
4.2.1齊次坐標(biāo)及對(duì)象物的描述 33
4.2.2 齊次變換及運(yùn)算 36
4.2.3 工業(yè)機(jī)器人連桿參數(shù)及其齊次坐標(biāo)矩陣 38
4.2.4 機(jī)器人運(yùn)動(dòng)學(xué)方程 39
4.3 運(yùn)動(dòng)學(xué)逆問(wèn)題 42
第五章 機(jī)器人運(yùn)動(dòng)學(xué)仿真 44
5.1 焊接機(jī)器人仿真模型的建立 44
5.2 焊接機(jī)器人運(yùn)動(dòng)學(xué)仿真 48
5.2.1 模型檢查和仿真分析參數(shù)設(shè)置 49
5.2.2 仿真過(guò)程及機(jī)械手末端的運(yùn)動(dòng)軌跡 50
5.2.3 各個(gè)關(guān)節(jié)轉(zhuǎn)角 51
5.2.4關(guān)節(jié)角速度角加速度的測(cè)量 53
5.2.5機(jī)械人末端位置的測(cè)量 53
5.3 本章小結(jié) 54
第六章 總結(jié)與展望 54
第七章 致謝 56
參考文獻(xiàn) 56



摘 要
隨著機(jī)器人技術(shù)的應(yīng)用和發(fā)展，機(jī)器人技術(shù)逐漸應(yīng)用到了工業(yè)的各個(gè)領(lǐng)域。根據(jù)不同項(xiàng)目需要，如何加快機(jī)器人開(kāi)發(fā)進(jìn)度，提高開(kāi)發(fā)效率，改善機(jī)器人的各項(xiàng)性能，己成為極需解決的問(wèn)題。一直以來(lái)，在機(jī)器人的設(shè)計(jì)開(kāi)發(fā)及優(yōu)化設(shè)計(jì)中，機(jī)器人運(yùn)動(dòng)學(xué)建模與運(yùn)動(dòng)學(xué)仿真研究都是非常重要的工作。特別是針對(duì)復(fù)雜的空間機(jī)構(gòu)，如何快速、準(zhǔn)確地建立系統(tǒng)的運(yùn)動(dòng)學(xué)模型，并進(jìn)行有關(guān)系統(tǒng)性能的各項(xiàng)仿真工作顯得越來(lái)越重要。
本文依據(jù)對(duì)工業(yè)機(jī)器人的理解與研究，運(yùn)用目前通用的CAD三維設(shè)計(jì)軟件對(duì)焊接工業(yè)機(jī)器人的各主要零部件進(jìn)行初步設(shè)計(jì)，并裝配成完整的機(jī)器人模型。根據(jù)焊接機(jī)器人的結(jié)構(gòu)特點(diǎn)，對(duì)各關(guān)節(jié)需配置的電機(jī)與減速器進(jìn)行參數(shù)計(jì)算與選型。然后在對(duì)機(jī)器人進(jìn)行正向運(yùn)動(dòng)學(xué)分析的基礎(chǔ)上，運(yùn)用D-H矩陣法，求解出焊接機(jī)器人末端位姿的數(shù)學(xué)模型，完成了焊接機(jī)器人空間位姿的描述。最后運(yùn)用ADAMS 軟件，建立了焊接機(jī)器人的虛擬樣機(jī)模型，仿真得出了模型的末端軌跡，并與數(shù)學(xué)模型求解結(jié)果進(jìn)行對(duì)比，驗(yàn)證了數(shù)學(xué)模型的準(zhǔn)確性與可靠性；并對(duì)其進(jìn)行機(jī)器人的動(dòng)畫(huà)演示和運(yùn)動(dòng)仿真，得到了6個(gè)關(guān)節(jié)順序動(dòng)作的動(dòng)作過(guò)程動(dòng)畫(huà)和6關(guān)節(jié)協(xié)調(diào)動(dòng)作時(shí)的各個(gè)關(guān)節(jié)的關(guān)節(jié)角曲線、關(guān)節(jié)速度曲線和末端軌跡曲線，對(duì)指導(dǎo)后期的機(jī)器人軌跡規(guī)劃及機(jī)器人結(jié)構(gòu)優(yōu)化設(shè)計(jì)等工作具有積極的意義。

關(guān)鍵詞： 焊接機(jī)器人；結(jié)構(gòu)設(shè)計(jì)；虛擬樣機(jī)；ADAMS；運(yùn)動(dòng)仿真；軌跡優(yōu)化


Abstract
With the application and development of the robotics, the robotics are gradually applied to all areas of Industry. According to the needs of different kinds of projects, how to speed up the development of robotics and how to improve the efficiency and the performance of the robot has become a problem needed to resolve as soon as possible. In the development and optimization of the robot’s design, the modeling and simulation of robot kinematics are very important jobs since ever. Especially for complex spatial mechanisms, how to quickly and accurately establish kinematics model and simulation model of the system and carry on the simulation of the system’s performance has increasingly become important.
In this paper, based on the understanding and study of industrial robots, we use the current universal 3D CAD software to design all major components of industrial welding robots in the preliminary design stage, and assembled these components into a complete robot model. According to the structural characteristics of the welding robot, each joint must be provided with appropriate motor, and the calculation of parameter and selection of reducer must be done at the same time. Then, based on the forward kinematics analysis of robot, use the D-H matrix method to solve a mathematical model of the end’s pose of a welding robot, and complete the description of spatial position of welding robot. Finally, we use the ADAMS software to build a virtual prototype model of the welding robot to get results of the end trajectory of model and compare this result with mathematical model’s results to verify the accuracy and reliability of the mathematical model; and carry on the animation presentations and motion simulation to get the joint angle curve and obtain six joints’ action’s animation , the joint velocity curve and ends trajectory curve, these work has a positive meaning to robot trajectory planning and design of the robot structure.
Keywords: Welding robots;structural design; virtual prototyping; ADAMS; motion simulation; trajectory..