六自由度机器人结构设计、运动学分析及仿真

西安理工大学硕士学位论文六自由度机器人结构设计、运动学分析及仿真姓名：张焕申请学位级别：硕士专业：机械制造及其自动化指导教师：黄玉美20040301i2004.3.AGVD-HADAMSiiABSTRACTiiiCONSTRUCTIONDESIGNKINEMATICSANALYSISANDSIMULATIONOFSIXDEGREEOFFREEDOMROBOTAuthor:Zhanghuan(signature):Tutor:huangyu-mei(signature):ABSTRACTInthepasttwentyyears,therobottechnologyhasbeendevelopedgreatlyandusedinmanydifferentfields.Thereisalargegapbetweenourcountryandthedevelopedcountriesinresearchandapplicationoftherobottechnologysothattherewillbeagreatvaluetostudy,designandapplieddifferentkindsofrobots,especiallyindustrialrobots.Mosttypicalindustrialrobotssuchasweldingrobot,paintingrobotandassemblyrobotareallfixedontheproductlineornearthemachiningequipmentwhentheyareworking.Basedonlargernumberofrelativeliteraturesandcombinedwiththeneedofproject,theauthorhavedesignedakindofsmall-sizeserialrobotwith6degreeoffreedomwhichcanbefixedontheAGVtoconstructamobilerobot.Firstofall,severalkindsofschemeswereproposedaccordingtothedesigndemand.Thebestschemewaschosenafteranalysisandcomparingandthestructurewasdesigned.Atsametime,Thekinematicsanalysiswasconducted,coordinatetransformationmatrixusingD-Hmethodwassetup,andthekinematicsequationdirectsolutionandinversesolutionwasdeduced,thevelocityJacobianmatrixwasconstructedusingvectorproductmethod,andthevaluesofdisplacementandvelocityofsomespecialpointincludingthewristpointwerecalculated.Secondly,theworkingspaceoftherobotwasanalyzedandtheaxessectionofpracticalworkingspacewasdrawn.TheseworksprovidedabasistothestructureABSTRACTivdesign,kinematicsanalyseandcontrol.Atlast,therobotarm’skinematicswassimulatedbyusingsoftwareADAMS,andthesimulationresultwasanalyzed.Intheexperiment,theauthortriedtousethevirtualprototypingtechnologyinmechanismdesign.keywords:Robot;KinematicsAnalysis;WorkingSpaceAnalysis;VirtualPrototypingTechnology1111.120801986198786319931995300m20004000831.22[3]4623231.3FMS1-11-113AGV1-21-21.4(1)4(2)(3)(4)ADAMS2522.12.2612(1)PTPCPaPointtoPointControlbContinuousPathControl(2)abzr,,q),,(zrfPq=,rzqcy,,fq),,(yfPfq=dSCARA27(3)abc2090(4)2.32.3.1AGV5~635mm100mm2.3.2a2-182-1BBRBRRRBRRRR2-22-229BRBBRBRRRBR2-32-3b2-41(2-4a)3(2-4c)4(2-4d)2(2-4b)210(a)(b)(c)(d)2-4211cAGVAGV6150Nm27Nm1:1001:503.7Nm1.0Nm121T30o/s(0.524rad/s)(5r/min)2W30o/s(0.524rad/s)(5r/min)3U60o/s(1.047rad/s)(10r/min)4C120o/s(2.094rad/s)(20r/min)5B120o/s(2.094rad/s)(20r/min)6S180o/s(3.142rad/s)(30r/min)2m/s21T-360o+360o2W-90o+90o3U-60o+210o4C-360o+360o5B-90o+90o6S-360o+360o2.42-52132-5123456(1)AGV(2)46531214(3)(4)(5)(6)0100mm2-62-612212152.5SASIANSYSANSYS2.5.1ANSYSCADPro/E16ANSYSEANSYSANSYSPro/EANSYS2.7g/cm3E=68GPa0.322-72-7ANSYS2.5.2ANSYSANSYS2-80.0018mm2-9()98.572MPa2172-82-9AB18ABR=200mm20~25mm2-102-102-1054.2MPa31933.1D-H[3][1]D-H1955DenavitHartenberg44×D-H3-1a122J2O0O12233J3O333-1b1aizizi+1xi2iazizi+1xi3dixi-1xizi4ixi-1xizi20(a)(b)3-13-13-1iai-1mmai-1dimm?i1000?12090od2=95?23a2=40000?340-90od4=375?45090o0?560-90o0?63213.2xyzxyz⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡-=10000cossin00sincos00001),(qqqqqxRot⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡-=10000cos0sin00100sin0cos),(qqqqqyRot⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡-=1000010000cossin00sincos),(qqqqqzRot⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡=100001000010001),(aaxTrans⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡=100001000100001),(aayTrans⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡=100010000100001),(aazTrans3-1{i}{i-1}Tii1-1Xi-1ai-12Xi-1ai-13Zi?i4Zi?i3-1[2]),(),(),(),(111iiiiiidZTransZRotaXTransXRotTqa---=(3-2)Tii1-22⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡---=----------1000coscossincossinsinsinsincoscoscossin0sincos1111111111iiiiiiiiiiiiiiiiiiiddaTaaaqaqaaaqaqqq(3-3)3-13-2T01T12T23T34T45T56⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡-=1000010000cossin00sincos111101qqqqT⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡---=100000cossin10000sincos2222212qqqqdT⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡-=1000010000cossin0sincos3323323qqqqaT⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡---=100000sinsin10000sincos4444434qqqqdT⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡--=100000cossin010000sincos555545qqqqT⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡---=100000cossin010000sincos666656qqqqTT06=T01T12T23T34T45T56=⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡1000zzzzyyyyxxxxpaonpaonpaon(3-4)[])()(646541652364654231scccsscsssscccccnx+---=[])()(646541652364654231scccsccssssccccsny++--=32365236465423)(cscsscccsnz+-=[])()(646541652364654231ccscssssscssccccox+--+--=[])()(646541652364654231ccscscssscsscccsoy+-++--=65236465423)(ssccssccsoz---=54152354231)(ssscsscccax+--=54152354231)(ssccssccsay---=(3-5)5235423ccscsaz+-=21224231)(dsacdscpx++-=21224231)(dcacdsspy-+-=22423asdcpz+=)cos(),sin(),cos(),sin(32233223qqqqqq+=+===cscsiiii01=q°=902q°-=903q04=q05=q06=qiq3-5T06=⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡+-10001000100001422dad3-1{m}{m}{0}Tm0Tm0=T06Tm6⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡-=100010000cossin00sincos6mmmmmmdTqqqq=⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡100010000100001md24Tm0=T06Tm6=⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡1000zzzzyyyyxxxxpaonpaonpaon(3-6)nxnynzoxoyozaxayaz(3-3)pxpypz[]2122423154152354231)()(dsacdscdssscsscccpmx++-++--=[]2122423154152354231)()(dcacdssdssccssccspmy-+-+---=(3-7)[]224235235423asdcdccscspmz+++-=ti?i(i=1,2,...,6)3.3(3-3)zyyxppnn...kjiaon?i(i=1…6)121{m}6325⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡1000zzzzyyyyxxxxpaonpaonpaon=T01T12T23T34T45T56(3-8)1?1?2?32T23-1T12-1T01-1123-T112-T101-T⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎣⎡1000zzzzyyyyxxxxpaonpaonpaon=T34T45T56(3-9)[zyxnsncsncc23231231++zyxosocsocc23231231++zyxasacsacc23231231++3223231231capspcspcczyx-++zyxncnssnsc23231231+--zyxocossosc23231231+--zyxacassasc23231231+--322