【摘要】：本文在深入了解國內外玻璃在線堆垛行業(yè)發(fā)展的基礎上，結合現(xiàn)有智能堆垛機械手，設計了一套基于工業(yè)機器人的玻璃在線堆垛系統(tǒng)，并對系統(tǒng)進行運動學分析及軌跡規(guī)劃，最終實現(xiàn)玻璃在線堆垛作業(yè)。 首先根據(jù)系統(tǒng)作業(yè)類型，設計系統(tǒng)末端執(zhí)行器。末端執(zhí)行器是系統(tǒng)執(zhí)行部件，根據(jù)玻璃在線堆垛作業(yè)類型設計末端執(zhí)行器，即吸盤架。根據(jù)吸盤架吸附玻璃重量、尺寸等具體條件設計氣路系統(tǒng)；根據(jù)玻璃在線堆垛系統(tǒng)的具體工作情況和實際要求，選取了真空發(fā)生器等系統(tǒng)關鍵部件，最終完成系統(tǒng)的搭建。 用Pro/E軟件建立了工業(yè)機器人系統(tǒng)的三維實體模型，根據(jù)關節(jié)空間關系坐標系，建立D-H模型，計算得到6個關節(jié)坐標變換矩陣，求出相鄰連桿的坐標變換通式，從而求出正向運動學方程；在正向運動學求解的基礎上，運用解析法求解了逆向運動學問題，并對多解性作了分析；在關節(jié)空間中，采用三次多項式函數(shù)法對機器人的軌跡進行了規(guī)劃，對玻璃堆垛過程中經(jīng)過的關鍵點進行三次多項式擬合，得到各個運動軸的驅動函數(shù)，從而完成系統(tǒng)的軌跡規(guī)劃。 在Pro/E Mechanism模塊中對三維實體模型添加驅動和驅動參數(shù)，根據(jù)運動學求解結果及系統(tǒng)軌跡規(guī)劃曲線進行運動學仿真，，同時模擬了規(guī)劃軌跡的全過程，并對這一過程進行了運動學分析，最后用實驗驗證了軌跡規(guī)劃合理性以及可行性。該項研究的意義在于提高工業(yè)機器人系統(tǒng)的工作效率、為系統(tǒng)編程提供數(shù)據(jù)以及為操作工業(yè)機器人系統(tǒng)提供理論指導。
[Abstract]:On the basis of deep understanding of the development of glass online stacking industry at home and abroad, combined with the existing intelligent stacking manipulator, a set of on-line glass stacking system based on industrial robot is designed, and the kinematics analysis and trajectory planning of the system are carried out. Finally, glass on-line stacking operation is realized. First of all, according to the job type of the system, the end actuator of the system is designed. End Actuator is a part of system execution. According to the type of glass on-line stacking, the end Actuator is designed, I. E., sucker holder. The air circuit system is designed according to the specific conditions of absorbing glass weight and size on the suction tray, and according to the concrete working conditions and practical requirements of the glass on-line stacking system, the key components of the system, such as vacuum generator, are selected, and the system is finally built. The three-dimensional solid model of industrial robot system is established by using Pro/E software. According to the joint spatial relation coordinate system, the D-H model is established. Six joint coordinate transformation matrices are calculated, and the general formula of coordinate transformation of adjacent links is obtained. Thus, the forward kinematics equation is obtained. On the basis of solving forward kinematics, the inverse kinematics problem is solved by analytic method, and the multi-solution is analyzed. In the joint space, the trajectory of the robot is planned by the cubic polynomial function method, and the key points in the glass stacking process are fitted with cubic polynomials, and the driving functions of each moving axis are obtained. As a result, the trajectory planning of the system is completed. In the Pro/E Mechanism module, the driving and driving parameters are added to the three-dimensional solid model. According to the results of kinematics solution and the trajectory planning curve of the system, the kinematics simulation is carried out. At the same time, the whole process of the planning trajectory is simulated. Finally, the rationality and feasibility of trajectory planning are verified by experiments. The significance of this research is to improve the efficiency of industrial robot system, to provide data for system programming and to provide theoretical guidance for the operation of industrial robot system.
【學位授予單位】：河南科技大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH24;TP242.2

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