低负荷六轴工业机械手的设计与仿真
摘 要
随着我国工业生产自动化进程的加速,工业机械手的使用变得更加普遍.本文结合机器人技术和虚拟样机技术,实现对机械本体的设计与优化、静力学仿真和样机的底层算法设计.
首先,针对机器人技术和ABB、KUKA低负荷类工业机械臂实例进行大量知识储备和学习研究,确定多项设计参数,确定总体设计方案、传动方案.其次,根据设计的参数和方案,利用Solidwork软件以自上而下建模方式构建虚拟样机,并实现完整的装配、约束、材质设定、工艺参数设定.再次,根据三维模型利用MATLAB仿真出末端的工作范围,并对设计参数进行优化.根据新的参数确定电机、减速器设计参数,并利用Simulation插件对模型关键部件做应力和变形分析,实现模型再优化.最后在优化后的模型基础上,建立各个连杆对应的坐标系,完成虚拟样机的位姿描述,建立D-H方程, 实现末端与底座的位姿变换.根据D-H算法推算运动方程的解.
关键词：虚拟样机技术；六轴工业机械手；优化设计；静力学仿真；D-H算法；逆解
The Design and Simulation of Low-Payload
6-DOF Industrial Arm
ABSTRACT
Along with the acceleration of the process industrial automation, industrial arms are utilized widely. In this paper, robotics and virtual prototyping technology were applied to finish the mechanical design and optimization, the statics simulation and the underlying algorithm design.
Firstly, I prepared the knowledge of robotics technology and a lot of low-payload examples of ABB and KUKA industrial arms to determine the design parameters, the general design and the mechanical transmission scheme. Secondly, according to the design parameters, I built the model with Solidworks in top-down approach and finished the assembly, constraints, material setting and process parameters setting. Thirdly, MATLAB were applied to draw the scope of locus of the arm extremity to optimize the design parameters. The correct servo motor and decelerator were choose according to the new parameters. The stress and deformation analysis were finished with Simulation component to finish the optimization. Finally, the joint coordinates of each link were built to complete the description of the position and orientation of virtual prototype with the optimized model. D-H Algorithm were used to achieve the ends and the base transformation to calculate solutions of the movement equation.
Key words：Virtual Prototyping Technology; Six-Axes Industrial Arm；Optimized Design; Static Simulation; D-H Algorithm; Inverse Solution
目 录
前 言 ................................................... 3 1． 绪 论 ............................................... 4
1.1工业机械手简介............................................... 4 1.2工业机械手选题背景........................................... 4 1.3工业机械手研究意义........................................... 6 1.4研究内容..................................................... 7
2. 低负荷六自由度工业机械手方案设计 ...................... 7
2.1机械手设计定位............................................... 7 2.2机械手设计方案准备........................................... 8
2.2.1与机械手有关的概念 ..................................... 8 2.2.2机械手分类 ............................................. 9 2.2.3传动方案设计 .......................................... 12 2.4确定设计参数................................................ 13
3. 样机设计与优化 ....................................... 14
3.1虚拟样机技术简介............................................ 14 3.2 Solidworks软件及其插件介绍................................. 15 3.3机械手方案设计与分析........................................ 15
3.3.1 初步建立机械手模型.................................... 15 3.3.2传动部分的计算 ........................................ 20 3.4电机与减速器的选择.......................................... 21 3.5机械手结构分析与优化........................................ 24
3.5.1静应力分析 ............................................ 24 3.5.2有限元分析与结构优化 .................................. 26 3.6机械手轨迹优化.............................................. 29
1
4. 基于MATLAB的六自由度机械手运动学方程求解 ............ 30
4.1确定D-H坐标系.............................................. 31 4.2确定广义连杆坐标系的连杆参数................................ 31 4.3建立六自由度机械手数学模型.................................. 32 4.4六自由度机械手求解.......................................... 32
4.4.1机械手位姿描述与转换基础 .............................. 33 4.4.2机械手运动分析 ........................................ 34 4.4.3求解机械手的逆解 ...................................... 36
5. 总结与展望 ........................................... 37 参考文献 ................................................ 39 附 录 ................................................ 40 致 谢 ................................................ 46
2
低负荷六轴工业机械手设计与仿真
前 言
工业自动化经过最近40多年的迅速发展,许多工业发达国家都开始广泛地采用工业机械手和自动化生产线,工业机器人技术作为先进制造业的典范,已成为一个国家制造业和科技水平的重要标志.
通过查阅王兴松教授大量机器人技术教学视频和熊有伦教授早年大量文献资料和对机器人技术进行更加系统性的学习,通过对新松、ABB和KUKA多种型号的工业机械手的学习与分析,对国内外机器人现状有了比较深入的认识和详细的了解.在这样的基础上,结合低负荷通用六自由度工业机械手的设想,实现六自由度机械手方案创成、模型设计、静力学分析、仿真优化、底层算法设计.
由于作者水平有限的,难免有错误和遗漏指正,请多多指正.
3