分类号 密级 UDC 编号
硕 士 学 位 论 文
基于工业机器人玻璃在线堆垛系统的研究
学 位 申 请 人： 崔庆东 指 导 教 师： 崔凤奎 教授 王晓强 副教授 学 科 专 业： 机械制造及其自动化 学 位 类 别： 工 学
2012年5月
摘 要
论文题目： 基于工业机器人玻璃在线堆垛系统的研究 专 业： 机械制造及其自动化 研 究 生： 崔庆东 指导教师： 崔凤奎、王晓强
摘 要
本文在深入了解国内外玻璃在线堆垛行业发展的基础上，结合现有智能堆垛机械手，设计了一套基于工业机器人的玻璃在线堆垛系统，并对系统进行运动学分析及轨迹规划，最终实现玻璃在线堆垛作业。
首先根据系统作业类型，设计系统末端执行器。末端执行器是系统执行部件，根据玻璃在线堆垛作业类型设计末端执行器，即吸盘架。根据吸盘架吸附玻璃重量、尺寸等具体条件设计气路系统；根据玻璃在线堆垛系统的具体工作情况和实际要求，选取了真空发生器等系统关键部件，最终完成系统的搭建。
用Pro/E软件建立了工业机器人系统的三维实体模型，根据关节空间关系坐标系，建立D-H模型，计算得到6个关节坐标变换矩阵，求出相邻连杆的坐标变换通式，从而求出正向运动学方程；在正向运动学求解的基础上，运用解析法求解了逆向运动学问题，并对多解性作了分析；在关节空间中，采用三次多项式函数法对机器人的轨迹进行了规划，对玻璃堆垛过程中经过的关键点进行三次多项式拟合，得到各个运动轴的驱动函数，从而完成系统的轨迹规划。
在Pro/E Mechanism模块中对三维实体模型添加驱动和驱动参数，根据运动学求解结果及系统轨迹规划曲线进行运动学仿真，同时模拟了规划轨迹的全过程，并对这一过程进行了运动学分析，最后用实验验证了轨迹规划合理性以及可行性。该项研究的意义在于提高工业机器人系统的工作效率、为系统编程提供数据以及为操作工业机器人系统提供理论指导。
关 键 词：工业机器人，吸盘架，运动学分析，堆垛系统 论文类型：应用基础研究
1 本课题得到了河南省重点科技攻关项目（基于工业机器人的玻璃在线堆垛系统，102102210029）资助。
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摘要
Subject: The Research of Glass-online Stacking System Based on the Industrial Robot
Specialty: Mechanical Manufacturing and Automation Name: Cui Qingdong Supervisor: Cui Fengkui Wang Xiaoqiang
ABSTRACT
After the research of domestic and international development of glass online stacking industry and combined with the existed smart stacking robot, this paper designed a glass stacking system based on the industrial robot. Kinematic analysis and trajectory planning were done, ultimate the glass online stacking job were realized. First, according to the operating type, designed the end effector of the system. The end effector is the implementation component of the system, according to the glass on-line stacking type designed the suction cup holder. According to glass weight, size and other specific conditions to design gas system; according to the specific work conditions and actual requirements of the glass on-line stacking system, select the vacuum generator and other key components, finally completed the system.
Creaded the 3D solid model of the industrial robot IRB2400 with Pro/E software. Relations based on joint space coordinate, established the D-H model, then calculated and got the six joints transformation coordinates, thus got the kinematic equations. The forward kinematics solution based on the use of the analytical method for solving the inverse kinematics problem, and multiplicity of solutions are analyzed. Cubic polynomial function of the robot trajectory planning in joint space. Uses the key points of the glass stacking process to make the three polynomial, received the drive functions of all the axises, thus completing the system trajectory planning.
Add driver and driver parameters to the three-dimensional solid model in Pro/E Mechanism module, according to the result of kinematics and the system trajectory planning curve to simulation, at the same time to simulate the whole process of planning trajectories, and kinematic analysis, finally, show the rationality and feasibility of the trajectory planning used experimental. The significance of the study is to improve the work efficiency of the industrial robot system, to provide data for system programming, as well as to provide theoretical guidance for the operation of industrial robot systems.
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