【摘要】：機(jī)器人在現(xiàn)今的社會(huì)中扮演著越來越重要的角色,其中串聯(lián)機(jī)械手更是因其靈活性在諸多領(lǐng)域起著不可替代的作用。然而隨著機(jī)械手應(yīng)用領(lǐng)域不斷增多,任務(wù)難度不斷增大,使機(jī)械手的動(dòng)力學(xué)性能也需要有更嚴(yán)格的規(guī)定。因此提出一種串聯(lián)機(jī)械手動(dòng)力學(xué)優(yōu)化方法,使其能夠在與原型機(jī)相比動(dòng)力學(xué)性能更佳的情況下完成搬運(yùn)物料的工作。根據(jù)原型機(jī)結(jié)構(gòu)繪制機(jī)械手機(jī)構(gòu)示意圖以及生產(chǎn)線實(shí)際工作空間。利用D-H變換對(duì)已經(jīng)參數(shù)化的機(jī)械手模型進(jìn)行分析,進(jìn)而得到3R串聯(lián)機(jī)械手的運(yùn)動(dòng)學(xué)參數(shù)表達(dá)式。得到表達(dá)式后,即可獲得帶有參數(shù)的機(jī)械手運(yùn)動(dòng)學(xué)正解,通過反求后可得到帶有參數(shù)的機(jī)械手逆解,并選取隨機(jī)點(diǎn)舉例考察所得結(jié)果是否正確。根據(jù)生產(chǎn)任務(wù)要求,確定了機(jī)械手末端執(zhí)行器的運(yùn)行軌跡。由于已經(jīng)給定路徑點(diǎn),首先可以使用運(yùn)動(dòng)學(xué)知識(shí)得出各關(guān)節(jié)角的變化情況。已知各關(guān)節(jié)角的變化情況后,進(jìn)而使用三次插值的辦法對(duì)各關(guān)節(jié)進(jìn)行軌跡規(guī)劃。運(yùn)用拉格朗日函數(shù)計(jì)算帶有參數(shù)的3R搬運(yùn)機(jī)械手的各關(guān)節(jié)力矩表達(dá)式。首先定義了拉格朗日函數(shù),并從速度角度推得機(jī)械手動(dòng)能和位能,最終推出動(dòng)力學(xué)方程通式。將模型的各項(xiàng)參數(shù)帶入方程當(dāng)中,獲取了帶有參數(shù)的各關(guān)節(jié)力矩的表達(dá)式,并帶入實(shí)例求解以便后續(xù)的對(duì)比和驗(yàn)證�；跈C(jī)械手的生產(chǎn)特點(diǎn),選擇合適的目標(biāo)函數(shù)對(duì)機(jī)械手進(jìn)行優(yōu)化求解。根據(jù)前文已經(jīng)求得的各關(guān)節(jié)力矩表達(dá)式求出總關(guān)節(jié)力矩,并選取軌跡上加速度最大處的總關(guān)節(jié)力矩作為目標(biāo)函數(shù)。給出適當(dāng)?shù)募s束條件并通過合適的優(yōu)化方法對(duì)機(jī)械手進(jìn)行動(dòng)力學(xué)優(yōu)化設(shè)計(jì),求解出在該目標(biāo)函數(shù)下使機(jī)械手具有更優(yōu)良的加速性能的結(jié)構(gòu)參數(shù)。最后,使用ADAMS仿真軟件對(duì)機(jī)械手進(jìn)行仿真,通過對(duì)比兩機(jī)械手的關(guān)節(jié)力矩,驗(yàn)證了優(yōu)化后的機(jī)械手動(dòng)力學(xué)性能確實(shí)得到提升,同時(shí)驗(yàn)證了運(yùn)動(dòng)學(xué)、軌跡、動(dòng)力學(xué)等公式推導(dǎo)的正確性。本研究將實(shí)際的工作情況和機(jī)器人理論分析建立在一起,采用直接對(duì)動(dòng)力學(xué)模型優(yōu)化的方法,對(duì)改善機(jī)械手的動(dòng)力學(xué)性能提出較為有效的方案,為機(jī)械手進(jìn)一步優(yōu)化研究開啟了新的思路和方向。
[Abstract]:Robots play a more and more important role in today's society, in which serial manipulator plays an irreplaceable role in many fields because of its flexibility. However, with the increasing of manipulator application field and the increasing difficulty of the task, the dynamic performance of manipulator also needs to be strictly regulated. Therefore, a dynamic optimization method for series manipulator is proposed, which can complete the material handling work under the condition that the dynamic performance of the manipulator is better than that of the prototype machine. Draw the mechanism diagram of manipulator and the actual workspace of production line according to the structure of prototype machine. By using D-H transformation, the parameterized manipulator model is analyzed, and the kinematic parameter expression of 3R series manipulator is obtained. After obtaining the expression, the kinematics positive solution with parameters can be obtained, the inverse solution with parameters can be obtained by reverse solution, and a random point is selected to investigate whether the result is correct. According to the requirements of the production task, the trajectory of the end actuator of the manipulator is determined. Since the path point has been given, the kinematics knowledge can be used to obtain the changes of the joint angles. After the change of the joint angle is known, the cubic interpolation method is used to plan the trajectory of each joint. The expressions of joint moment of 3R manipulator with parameters are calculated by Lagrange function. Firstly, the Lagrange function is defined, and the kinetic energy and potential energy of the manipulator are derived from the velocity angle. Finally, the general equation of dynamics is derived. The parameters of the model are brought into the equation, and the expressions of the joint torque with parameters are obtained, and an example is taken to solve them for further comparison and verification. Based on the production characteristics of manipulator, the appropriate objective function is selected to optimize the manipulator. Based on the expressions of the joint torque obtained in the previous paper, the total joint torque is obtained, and the total joint torque at the maximum acceleration on the track is chosen as the objective function. The proper constraint conditions are given and the dynamic optimization design of the manipulator is carried out by the appropriate optimization method. The structural parameters of the manipulator with better acceleration performance under the objective function are solved. Finally, ADAMS simulation software is used to simulate the manipulator. By comparing the joint torque of the two manipulators, it is verified that the optimized mechanical manual mechanical performance is really improved, and the kinematics and trajectory are also verified. The derivation of dynamics formula is correct. In this study, the actual working situation and the robot theory analysis are established, and the method of direct optimization of the dynamic model is adopted to improve the dynamic performance of the manipulator. It opens a new way of thinking and direction for further optimization research of manipulator.
【學(xué)位授予單位】：沈陽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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