發(fā)布時(shí)間：2018-01-11 10:36

  本文關(guān)鍵詞：四自由度混聯(lián)機(jī)器人離線編程系統(tǒng)研究　出處：《鄭州輕工業(yè)學(xué)院》2016年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 離線編程 虛擬建模 軌跡規(guī)劃 遺傳算法 運(yùn)動(dòng)仿真

【摘要】：現(xiàn)代物流等行業(yè)發(fā)展迅速,以搬運(yùn)與碼垛作業(yè)為主要任務(wù)的混聯(lián)機(jī)器人以其結(jié)構(gòu)穩(wěn)定,占地空間小,負(fù)載能力強(qiáng)等優(yōu)點(diǎn),受到眾多企業(yè)的關(guān)注。傳統(tǒng)機(jī)器人的編程方式,由于需要將任務(wù)點(diǎn)逐一示教,編程結(jié)果依靠經(jīng)驗(yàn),復(fù)雜路徑耗時(shí)過(guò)多,正確性差,工作人員安全無(wú)法保證等不足,難以滿(mǎn)足現(xiàn)代物流業(yè)對(duì)效率和準(zhǔn)確性的要求,因此離線編程系統(tǒng)越來(lái)越成為發(fā)展的趨勢(shì),本文通過(guò)VB對(duì)Solidworks二次開(kāi)發(fā)研究了混聯(lián)機(jī)器人的離線編程系統(tǒng),主要工作如下:首先,本文深入研究了離線編程系統(tǒng)的關(guān)鍵技術(shù),并利用Access數(shù)據(jù)庫(kù)技術(shù),通過(guò)Visual Basic 6.0對(duì)Solid Works API函數(shù)的二次開(kāi)發(fā),完成了零部件參數(shù)化設(shè)計(jì)。采用“自上而下”的自動(dòng)裝配技術(shù),完成虛擬裝配模型的創(chuàng)建,根據(jù)本文混聯(lián)機(jī)器人工作特點(diǎn),應(yīng)用4×4矩陣法,利用空間坐標(biāo)變換,完成虛擬工作單元的參數(shù)化布局。其次,針對(duì)混聯(lián)機(jī)器人結(jié)構(gòu)特點(diǎn),建立D-H坐標(biāo)系,利用分離變量法對(duì)四自由度機(jī)器人進(jìn)行運(yùn)動(dòng)學(xué)分析和求解,并采用ADAMS仿真軟件進(jìn)行運(yùn)動(dòng)學(xué)分析驗(yàn)證,求出了機(jī)器人速度,加速度運(yùn)動(dòng)學(xué)特性曲線。再次,以運(yùn)動(dòng)插值時(shí)間最短為優(yōu)化目標(biāo),采用加入外點(diǎn)罰函數(shù)的遺傳算法對(duì)機(jī)器人進(jìn)行了關(guān)節(jié)空間的“P-T-P”軌跡優(yōu)化。針對(duì)運(yùn)動(dòng)干涉和產(chǎn)生的動(dòng)態(tài)碰撞問(wèn)題,采用了基于包圍球的碰撞檢測(cè)算法對(duì)運(yùn)動(dòng)仿真過(guò)程實(shí)施動(dòng)態(tài)監(jiān)測(cè),并運(yùn)用動(dòng)態(tài)相交測(cè)試算法驗(yàn)證了碰撞檢測(cè)的可行性。最后總體設(shè)計(jì)了離線編程系統(tǒng)參數(shù)化虛擬建模模塊,運(yùn)動(dòng)學(xué)模塊,軌跡規(guī)劃和自動(dòng)編程及狀態(tài)監(jiān)測(cè)模塊等,通過(guò)Active X方式開(kāi)發(fā)出運(yùn)動(dòng)仿真模塊,對(duì)自動(dòng)編程結(jié)果基于Soldworks進(jìn)行了COSMOS motion運(yùn)動(dòng)仿真驗(yàn)證。
[Abstract]:Modern logistics and other industries are developing rapidly. The hybrid robot with handling and palletizing as its main task has the advantages of stable structure, small space, strong load capacity and so on. The traditional robot programming method needs to teach the task points one by one, the programming result depends on experience, the complex path is time-consuming, and the correctness is not good. Staff safety can not be guaranteed and so on, it is difficult to meet the requirements of efficiency and accuracy of modern logistics industry, so off-line programming system has become a trend of development. In this paper, the off-line programming system of hybrid robot is developed by VB for Solidworks. The main work is as follows: firstly, the key technology of off-line programming system is studied deeply in this paper. Using Access database technology, the second development of Solid Works API function is carried out by Visual Basic 6.0. The parameterized design of parts and components is completed, and the virtual assembly model is created by "top-down" automatic assembly technology. According to the working characteristics of the hybrid robot in this paper, the 4 脳 4 matrix method is applied. The parameterized layout of the virtual work unit is completed by using the spatial coordinate transformation. Secondly, the D-H coordinate system is established according to the structural characteristics of the hybrid robot. The kinematics analysis and solution of the four-degree-of-freedom robot are carried out by using the method of separating variables, and the velocity of the robot is obtained by using the ADAMS simulation software to verify the kinematics analysis. Thirdly, take the shortest time of motion interpolation as the optimization target. A genetic algorithm with penalty function is used to optimize the "P-T-P" trajectory in the joint space of the robot, aiming at the problem of motion interference and dynamic collision. The collision detection algorithm based on bounding ball is used to dynamically monitor the motion simulation process. Finally, the parameterized virtual modeling module, kinematics module, trajectory planning and automatic programming and state monitoring module of off-line programming system are designed. The motion simulation module is developed by Active X, and the automatic programming result is verified by COSMOS motion motion simulation based on Soldworks.
【學(xué)位授予單位】：鄭州輕工業(yè)學(xué)院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前9條

1 焦恩璋;陳美宏;;工業(yè)機(jī)器人離線編程研究[J];裝備制造技術(shù);2009年10期

2 陳煥明;熊震宇;劉頻;;弧焊機(jī)器人離線編程系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn)[J];上海交通大學(xué)學(xué)報(bào);2008年S1期

3 呂鵬;孟正大;;弧焊機(jī)器人離線編程的實(shí)用化技術(shù)[J];華中科技大學(xué)學(xué)報(bào)(自然科學(xué)版);2008年S1期

4 韓光超;孫明;張海鷗;王桂蘭;;基于CAM的機(jī)器人拋光軌跡規(guī)劃[J];華中科技大學(xué)學(xué)報(bào)(自然科學(xué)版);2008年05期

5 ;Extraction of Robot Primitive Control Rules from Natural Language Instructions[J];International Journal of Automation and Computing;2006年03期

6 唐新華,Paul Drews;機(jī)器人三維可視化離線編程和仿真系統(tǒng)[J];焊接學(xué)報(bào);2005年02期

7 ;ROBOT PROGRAMMING BY DEMONSTRATION FOR TASK IN CONTACT STATE[J];Chinese Journal of Mechanical Engineering;2004年03期

8 ;A 3D Simulator for Autonomous Robotic Fish[J];International Journal of Automation and Computing;2004年01期

9 胡洪國(guó),高建華,楊汝清;碼垛技術(shù)綜述[J];組合機(jī)床與自動(dòng)化加工技術(shù);2000年06期

，

本文編號(hào)：1409215