六自由度机器人本体设计及轨迹规划与虚拟仿真

I摘要机器人在现代工业生产制造领域的应用越来越普遍。机器人技术是当今社会国家高新技术水平的重要体现。六自由度工业机器人以其较大的工作范围，较高的灵敏度在工业机器人领域具有重要的地位。随着机器人应用在广度和深度上的发展，迫切需要解决机器人本体基础技术研究。本文以某型号六自由度工业机器人为原型，设计出一个六自由度工业机器人，对该机器人的传动机构进行了设计，对机器人的各关节的驱动电机进行了计算选型，选取了机器人的各关节减速器，并对小臂结构进行了强度分析。为方便以后的建模计算，通过D-H方法建立机器人连杆坐标系，得到机器人末端执行器相对于机器人基座的转换矩阵，进而得到机器人运动学正解。机器人逆运动学采用机器人变换矩阵的逆矩阵进行求解，可知机器人运动学逆解有多组，通过实际工况以及机器人各关节运动范围等对逆解进行筛选。本文采用拉格朗日方法对机器人进行建模，得出机器人的动力学数学模型。机器人的轨迹规划方法有多种，本文采用三次B样条曲线对机器人进行轨迹规划。本文采用matlab对机器人工作空间进行了仿真，得出机器人的工作范围。运用matlab的机器人工具箱对机器人运动学进行了分析，得出了机器人运动学正解以及逆解。用机械系统分析软件adams简化建立了机器人参数模型，并对机器人动力学进行了分析，得到了机器人各关节的驱动力矩。本文运用matlab机器人工具箱对机器人进行了轨迹规划，从结果可以看出机器人各关节随时间的变化曲线。关键词：工业机器人；运动学；动力学；轨迹规划；虚拟仿真IIABSTRACTInthemodernindustrialmanufacturingfieldindustrialrobotisappliedmoreandmorewidely.Itisanimportantmanifestationofthenationalhigh-techlevelintoday'ssociety.Sixdegreeoffreedomindustrialrobotwithitslargerscopeofwork，highsensitivityplaysanimportantroleinthefieldofindustrialrobots.Incompanywithdevelopmentofrobot’sapplicationinbreadthanddepth,itisurgentneedtoaddressthebasictechnologyresearchoftherobot.Inthisdissertation,designasixDOFindustrialrobotwithamodelofsixDOFindustrialrobotasprototype.Therobot'stransmissionmechanismhasbeendesigned,thecalculationandselectionofthedrivingmotoraredoneforeachjointofrobot,thereducerofrobotjointsareselected,andanalysisthestrengthofsmallarmstructure.Forconvenienceofthecalculationofmodelinglater,establishedtherobotlinkcoordinatesystemthroughtheD-Hmethod.Thetransformationmatrixisgotoftherobotrelativetotherobotbase,andthentheforwardkinematicsoftherobotisgot.Theinversekinematicsoftherobotissolvedwithinversematrixoftherobottransformationmatrix,theinverseKinematicsofrobothasmanycomponents,itisselectedthoughtheactualworkingconditionandtherobotjointsmovementrange.Inthisdissertation,theLagrangemethodisusedmodelingforrobot,thedynamicsmathematicalmodeloftherobotisderived.Thereareavarietyofrobottrajectoryplanningmethod,thethreeBsplinecurvetrajectoryplanningofrobotisusedinthisdissertation.TheMATLABisusedtosimulationtherobotworkingspaceinthisdissertation,theworkingrangeoftherobotisdrawn.TheMATLABroboticstoolboxisusedtoanalysistherobotkinematics,andthentherobotkinematicsandinversesolutionaredrawn.TherobotparametersmodelissimplifiedestablishedthoughtheanalysissoftwareofmechanicalsystemADAMS.Andthedynamicsoftherobotisanalyzed,thedrivingtorqueofeachjointofrobotisgot.ThetrajectoryofrobotisplannedwiththeMATLABroboticstoolboxinthisdissertation,therobotjointsvariationcurveoftimecanbeseenfromtheresults.KEYWORDS:IndustrialrobotsKinematicsDynamicsTrajectoryplanningVirtualsimulationIII目录第一章绪论....................................................................................................................11.1工业机器人的概述.............................................................................................11.2国内外工业机器人技术的研究现状.................................................................21.3本文的研究意义.................................................................................................41.4本文主要研究内容.............................................................................................4第二章六自由度工业机器人的结构设计....................................................................62.1本设计的研究内容.............................................................................................62.2机器人的设计方案与分析.................................................................................62.2.1底座的设计与计算.....................................................................................82.2.2腰部的设计与计算.....................................................................................92.2.3大臂的设计与计算....................................................................................112.2.4小臂的设计与计算...................................................................................122.2.5手腕的设计与计算...................................................................................142.2.6手部的设计与计算...................................................................................162.3机器人各关节部件减速器的选型...................................................................172.4机器人小臂的应力分析图形...........................................................................182.5总结...................................................................................................................20第三章六自由度工业机器人的运动学分析..............................................................223.1工业机器人运动学分析的意义......................................................................223.2机器人正运动学分析方法..............................................................................223.3工业机器人的逆运动学分析..........................................................................273.4本章小结..........................................................................................................31第四章机器人动力学分析及轨迹规划......................................................................324.1机器人动力学分析的意义..............................................................................324.2机器人动力学分析方法.................................................................