本文選題：高速重載 + 柔性　； 參考：《哈爾濱工業(yè)大學(xué)》2015年碩士論文

【摘要】：隨著高速重載碼垛機(jī)器人在汽車、冶金、物流等行業(yè)的廣泛應(yīng)用,自動(dòng)化生產(chǎn)線對(duì)機(jī)器人的搬運(yùn)速度、負(fù)載能力、加速度和定位精度提出了更高的要求。針對(duì)高速重載碼垛機(jī)器人高速、高精度、大負(fù)載的工作特性,僅在運(yùn)動(dòng)學(xué)層面上進(jìn)行結(jié)構(gòu)設(shè)計(jì)還不夠,有必要依據(jù)動(dòng)靜力學(xué)性能分析,對(duì)機(jī)器人本體進(jìn)行重點(diǎn)面向動(dòng)態(tài)特性的結(jié)構(gòu)優(yōu)化研究。因此,本文從高速重載碼垛機(jī)器人的工作特性出發(fā),提出一種基于動(dòng)態(tài)特性分析的高速重載碼垛機(jī)器人優(yōu)化設(shè)計(jì)方法。首先,基于D-H參數(shù)法和第二類拉格朗日方程對(duì)高速重載碼垛機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)建模,推導(dǎo)出運(yùn)動(dòng)學(xué)正解及雅克比矩陣,結(jié)合減速機(jī)簡(jiǎn)化模型建立了剛?cè)狁詈蟿?dòng)力學(xué)模型。利用ADAMS分析軟件,建立了機(jī)器人虛擬模型,進(jìn)行了動(dòng)力學(xué)仿真,驗(yàn)證了關(guān)節(jié)柔性對(duì)機(jī)器人性能的影響以及動(dòng)力學(xué)方程的正確性。其次,借助有限元仿真分析,對(duì)碼垛機(jī)器人的三個(gè)典型位姿進(jìn)行了模態(tài)分析。結(jié)果顯示,最低階固有頻率主要是由于大臂的關(guān)節(jié)柔性引起的搖擺振動(dòng),小臂彎曲和大臂扭轉(zhuǎn)也會(huì)對(duì)系統(tǒng)產(chǎn)生較大影響。接著通過(guò)多點(diǎn)激勵(lì)單點(diǎn)拾取的模態(tài)分析方案,借助BOBCAT動(dòng)態(tài)測(cè)試系統(tǒng),進(jìn)行了典型位姿下的整體動(dòng)態(tài)實(shí)驗(yàn)。根據(jù)模態(tài)分析結(jié)果,提出了采用有限元分析軟件優(yōu)化大小臂桿件柔性,理論建模優(yōu)化關(guān)節(jié)柔性指標(biāo)的碼垛機(jī)器人整體結(jié)構(gòu)優(yōu)化方法。最后,考慮桿件柔性,利用有限元分析軟件對(duì)大小臂進(jìn)行結(jié)構(gòu)優(yōu)化。然后,針對(duì)關(guān)節(jié)柔性對(duì)系統(tǒng)帶來(lái)的影響,確定了固有頻率,靜剛度和速度特性作為優(yōu)化目標(biāo),建立了關(guān)節(jié)柔性多目標(biāo)優(yōu)化模型。根據(jù)模態(tài)分析理論,采用振型疊加法進(jìn)行了碼垛機(jī)器人的振動(dòng)模態(tài)理論分析研究。通過(guò)大小臂簡(jiǎn)化處理,以及固有頻率相對(duì)靈敏度分析,確定了優(yōu)化變量。通過(guò)優(yōu)化目標(biāo)的性能譜圖分析,得到了優(yōu)化目標(biāo)間的耦合性關(guān)系。結(jié)合碼垛機(jī)器人其他具體工作需求,確定以工作空間、最大加速能力和大小臂剛度作為約束條件。最后,進(jìn)行了多目標(biāo)優(yōu)化模型的求解和優(yōu)化結(jié)果分析。針對(duì)NSGA-II存在的缺陷,對(duì)交叉算子和擁擠度排序進(jìn)行了改進(jìn),并通過(guò)典型測(cè)試函數(shù)和性能評(píng)價(jià)指標(biāo),驗(yàn)證了改進(jìn)算法的有效性。通過(guò)改進(jìn)NSGA-II算法進(jìn)行優(yōu)化模型的求解,根據(jù)實(shí)際需求選取了最優(yōu)解。優(yōu)化結(jié)果分析表明,各個(gè)性能都得到了一定程度的提升,并通過(guò)仿真分析驗(yàn)證了結(jié)構(gòu)優(yōu)化的有效性。
[Abstract]:With the wide application of high-speed and heavy-duty palletizing robot in automobile, metallurgy, logistics and other industries, the automatic production line has put forward higher requirements for the robot's handling speed, load capacity, acceleration and positioning accuracy.In view of the high speed, high precision and large load working characteristics of high speed and heavy load palletizing robot, it is not enough to design the structure on the kinematics level, so it is necessary to analyze the dynamic and static properties of the palletizing robot.The dynamic characteristic oriented structure optimization of robot ontology is studied.Therefore, based on the working characteristics of high speed and heavy load palletizing robot, an optimal design method of high speed heavy load palletizing robot based on dynamic characteristic analysis is proposed in this paper.Firstly, based on D-H parameter method and Lagrangian equation of the second kind, kinematics and dynamics of high speed and heavy load palletizing robot are modeled, and the forward kinematics solution and Jacobian matrix are derived.The rigid-flexible coupling dynamic model is established with the simplified model of reducer.The virtual model of robot is established by using ADAMS software, and the dynamic simulation is carried out, which verifies the effect of joint flexibility on robot performance and the correctness of dynamic equation.Secondly, the modal analysis of three typical postures of palletizing robot is carried out by means of finite element simulation.The results show that the lowest natural frequency is mainly due to the swinging vibration caused by the joint flexibility of the arm, and the bending of the forearm and the torsion of the arm will also have a great influence on the system.Then, through the modal analysis scheme of multi-point excitation single point pickup, the whole dynamic experiment under typical position and pose is carried out with the help of BOBCAT dynamic test system.Based on the modal analysis results, a new optimization method for the overall structure of a stacking robot is proposed, which uses finite element analysis software to optimize the flexibility of the large and small arms and the theoretical model to optimize the flexibility index of the joints.Finally, considering the flexibility of the bar, the finite element analysis software is used to optimize the structure of the upper arm.Then, aiming at the impact of joint flexibility on the system, the natural frequency, static stiffness and velocity characteristics are determined as the optimization objectives, and a multi-objective optimization model of joint flexibility is established.According to modal analysis theory, vibration modal analysis of stacking robot is carried out by mode superposition method.The optimization variables are determined by the simplified treatment of the upper arm and the relative sensitivity analysis of the natural frequency.The coupling relationship between the optimized targets is obtained by analyzing the performance spectrum of the optimized targets.According to the other requirements of palletizing robot, the workspace, the maximum acceleration ability and the stiffness of the upper arm are chosen as the constraint conditions.Finally, the multi-objective optimization model is solved and the optimization results are analyzed.Aiming at the defects of NSGA-II, the crossover operator and congestion ranking are improved, and the effectiveness of the improved algorithm is verified by the typical test function and performance evaluation index.Through the improved NSGA-II algorithm to solve the optimization model, the optimal solution is selected according to the actual demand.The results of optimization show that each performance has been improved to a certain extent, and the effectiveness of structural optimization is verified by simulation analysis.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP242

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