發(fā)布時間：2018-03-21 03:47

  本文選題：PR1400　切入點：D-H　出處：《南京理工大學》2017年碩士論文　論文類型：學位論文

【摘要】：機器人可以被看作是一種能夠擴展人類工作能力的有效工具,在人類改造世界的過程中,機器人發(fā)揮著越來越舉足輕重的作用。焊接機器人是機器人家族中的一個重要分支,是機器人領域的重要研究方向。關節(jié)型焊接機器人以其工作范圍大、動作靈活、結構緊湊等特點在焊接機器人研究中備受設計者和使用者青睞。對關節(jié)型焊接機器人運動軌跡規(guī)劃和控制的研究,一直受到學者的普遍關注。本文,首先對機器人的定義、研究現狀、及其發(fā)展前景作了介紹。針對熊貓集團的PR1400焊接機器人,通過對其參數結構進行分析,確定其工作范圍,并采用粒子群算法對該機器人工作范圍內的某焊接任務的焊接路徑進行了優(yōu)化求解,力求得到一條最短焊接路徑。其次,介紹了關節(jié)型機器人的空間位姿表示方法,并采用D-H法建立了 PR1400焊接機器人的連桿坐標系,對其進行了正逆運動學分析,為PR1400焊接機器人的軌跡規(guī)劃做準備。再次,研究了焊接機器人軌跡規(guī)劃的一般方法。在關節(jié)空間,針對不同的約束條件,分別對PR1400焊接機器人進行了三次多項式插值的軌跡規(guī)劃、高次多項式插值的軌跡規(guī)劃、和拋物線過渡的線性插值的軌跡規(guī)劃;在笛卡爾空間深入研究了 PR1400焊接機器人的直線軌跡規(guī)劃和圓弧軌跡規(guī)劃,并分析了不同軌跡規(guī)劃的優(yōu)缺點。最后應用虛擬建模技術,在MATLAB中建立PR1400焊接機器人的仿真模型,按照已經規(guī)劃好的末端焊槍運動軌跡,對焊接過程進行軌跡規(guī)劃仿真,并研究了該焊接機器人的運動學指標在仿真運動過程中的變化情況。從理論分析和仿真實驗結果的一致性,證明了所采用的軌跡規(guī)劃算法的有效性、合理性和在軌跡規(guī)劃方面的可行性。
[Abstract]:Robots can be regarded as an effective tool to expand the ability of human beings to work. Robots play a more and more important role in the process of human transformation of the world. Welding robots are an important branch of the robot family. Joint welding robot is an important research direction in the field of robot. The characteristics of compact structure are favored by designers and users in the research of welding robot. The research on motion trajectory planning and control of jointed welding robot has been paid more and more attention by scholars. In this paper, firstly, the definition of robot is introduced. This paper introduces the present situation of the research and its development prospects. According to the PR1400 welding robot of Panda Group, the parameter structure of the robot is analyzed, and the scope of its work is determined. Particle swarm optimization (PSO) algorithm is used to solve the welding path of a welding task in the robot's working range, and the shortest welding path is obtained. Secondly, the space pose representation method of the joint robot is introduced. The coordinate system of PR1400 welding robot is established by D-H method, and the kinematics analysis is carried out to prepare for the trajectory planning of PR1400 welding robot. The general method of trajectory planning for welding robot is studied. In the joint space, the trajectory planning of cubic polynomial interpolation and high-order polynomial interpolation are carried out for PR1400 welding robot under different constraint conditions. The linear interpolation trajectory planning of parabola transition, the linear trajectory planning and arc trajectory planning of PR1400 welding robot in Cartesian space are studied, and the advantages and disadvantages of different trajectory planning are analyzed. The simulation model of PR1400 welding robot is established in MATLAB. According to the planned trajectory of the end welding torch, the trajectory planning simulation of the welding process is carried out. The variation of the kinematics index of the welding robot during the simulation process is studied. The validity of the trajectory planning algorithm is proved by the consistency between the theoretical analysis and the simulation results. Rationality and feasibility in trajectory planning.
【學位授予單位】：南京理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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