本文選題：碼垛機(jī)器人 + 運(yùn)動(dòng)學(xué)分析　； 參考：《武漢科技大學(xué)》2015年碩士論文

【摘要】：隨著我國(guó)包裝物流產(chǎn)業(yè)的迅速發(fā)展，日益增長(zhǎng)的市場(chǎng)需求與生產(chǎn)效率之間的矛盾，對(duì)搬運(yùn)碼垛設(shè)備的生產(chǎn)能力提出了更高的要求，但目前國(guó)外碼垛機(jī)器人公司在我國(guó)的碼垛機(jī)器人市場(chǎng)具有壟斷性優(yōu)勢(shì)，所以自主研發(fā)低成本、高性能的碼垛機(jī)器人產(chǎn)品已成為我國(guó)工業(yè)機(jī)器人領(lǐng)域迫切需要解決的核心技術(shù)問題。 以MD200碼垛機(jī)器人為研究對(duì)象，分別從運(yùn)動(dòng)學(xué)、疲勞壽命以及搬運(yùn)碼垛自動(dòng)化生產(chǎn)線應(yīng)用三個(gè)方面進(jìn)行了研究。 首先，確定MD200碼垛機(jī)器人技術(shù)參數(shù)及構(gòu)型，提出整體結(jié)構(gòu)設(shè)計(jì)方案，并建立D-H運(yùn)動(dòng)學(xué)數(shù)學(xué)模型，對(duì)機(jī)器人行程放大系數(shù)以及運(yùn)動(dòng)學(xué)正逆解進(jìn)行理論分析，并通過ADAMS和MATLAB仿真分析加以驗(yàn)證。 其次，以線性疲勞累積損傷理論為理論基礎(chǔ)，聯(lián)合Workbench有限元分析和Designlife疲勞分析軟件，對(duì)MD200碼垛機(jī)器人在工作空間內(nèi)的四個(gè)極限位姿進(jìn)行靜強(qiáng)度分析，并針對(duì)等效應(yīng)力最大的極限位姿分析疲勞強(qiáng)度和疲勞壽命。 最后，結(jié)合包裝物流生產(chǎn)線的應(yīng)用現(xiàn)狀，論證發(fā)展完善搬運(yùn)碼垛自動(dòng)化生產(chǎn)線的必要性�；谀趁讟I(yè)的物流自動(dòng)化生產(chǎn)需求，結(jié)合MD200碼垛機(jī)器人及相關(guān)配套設(shè)備，設(shè)計(jì)具體的碼垛機(jī)器人自動(dòng)化生產(chǎn)線應(yīng)用布局方案，并對(duì)其進(jìn)行了合理的優(yōu)化設(shè)計(jì)，以降低生產(chǎn)成本，提高生產(chǎn)效率。
[Abstract]:With the rapid development of packaging logistics industry in China, the contradiction between increasing market demand and production efficiency puts forward higher requirements for the production capacity of palletizing equipment. But at present, foreign palletizing robot companies have monopoly advantages in our country's palletizing robot market, so independent research and development has low cost. The high performance palletizing robot products have become the core technical problem which needs to be solved urgently in the field of industrial robot in our country. Taking the MD200 palletizing robot as the research object, three aspects of kinematics, fatigue life and the application of the automatic production line for palletizing are studied. First of all, the technical parameters and configuration of MD200 palletizing robot are determined, the overall structure design scheme is proposed, and the D-H kinematics mathematical model is established, and the travel magnification factor and kinematics inverse solution of the robot are analyzed theoretically. It is verified by ADAMS and MATLAB simulation analysis. Secondly, based on the theory of linear fatigue cumulative damage, combined with Workbench finite element analysis and Designlife fatigue analysis software, the static strength analysis of MD200 palletizing robot in the workspace is carried out. The fatigue strength and fatigue life of the maximum equivalent stress are analyzed. Finally, combined with the application of packaging logistics production line, the necessity of developing and perfecting the automatic handling and palletizing production line is demonstrated. Based on the logistics automation production requirement of a certain rice industry, combined with MD200 palletizing robot and related supporting equipment, the application layout scheme of the automatic production line of palletizing robot is designed, and the reasonable optimization design is carried out to reduce the production cost. Improve production efficiency.
【學(xué)位授予單位】：武漢科技大學(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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