【作者】 谢茂士；

【导师】 周康渠； 徐小川；

【作者基本信息】 重庆理工大学 ， 机械（机械工程）（专业学位）， 2023， 硕士

【摘要】 随着制造业转型升级的推进,工业机器人正逐渐替代劳动强度大、重复性高、环境恶劣等的人工作业,如工业机器人打磨复杂曲面零件等。随着工业机器人应用的逐渐深入,复杂环境下工业机器人自主、高效运动成为研究热点。工业机器人轨迹规划、自主完成工作对保障工业机器人作业安全性、提高作业效率、减低能耗、延长寿命等至关重要。论文围绕工业机器人打磨轨迹规划、实现工业机器人自动化打磨开展研究。对自动化打磨工艺及使用设备进行分析,采用非均匀B样条曲线插值方法对打磨轨迹进行规划和改进,并通过改进麻雀算法及改变权重获得时间和冲击综合性能最优轨迹。论文主要研究内容如下:(1)以摩托车扶手为研究对象,根据扶手打磨工艺要求,使用具有恒定磨抛力的柔性打磨头、工业机器人及配套设备组合成打磨工作站,建立一套适用于RH公司实际工况的打磨工作站。(2)利用D-H方法对工业机器人的运动学进行建模,对所选工业机器人模型的正确性进行验证。研究工业机器人模型的正逆运动学,正运动学从基座标推导出末端执行器的位姿矩阵,逆运动学通过位姿矩阵反算得到各关节运动角度。(3)选用非均匀B样条曲线对打磨轨迹进行规划,通过仿真实验得出5次非均匀B样条曲线插值关节轨迹,使用该方法能够提高关节角速度、角加速度和脉冲运动曲线的平滑性。使用改进麻雀算法进行时间-脉动冲击多目标优化,根据对比实验选取最优权重值,根据所选权重值求得时间-冲击综合最优解。MATLAB轨迹规划仿真实验表明,该方法不仅能够有效提高工业机器人的运行效率、减小脉动冲击、提升轨迹平滑性,还能降低能耗。(4)基于Robot Studio软件,通过导入模型、配置工作站系统、建立工具和工件坐标等方式,构建符合实际生产需求的打磨工作站,运用仿真软件进行打磨实验,验证打磨轨迹的合理性,并通过后置功能导出离线打磨轨迹。更多还原

【Abstract】 With the advancement of manufacturing transformation and upgrading,industrial robots are gradually replacing manual operations with high labor intensity,high repeatability,and harsh environment,such as industrial robots grinding complex surface parts.With the gradual deepening of the application of industrial robots,the autonomous and efficient movement of industrial robots in complex environments has become a research hotspot.Trajectory planning and autonomous completion of industrial robots are very important to ensure the safety of industrial robots,improve work efficiency,reduce energy consumption and prolong life.This paper focuses on the trajectory planning of industrial robot grinding and the realization of industrial robot automatic grinding.The automatic grinding process and equipment are analyzed.The non-uniform B-spline curve interpolation method is used to plan and improve the grinding trajectory,and the optimal trajectory of time and impact comprehensive performance is obtained by improving the sparrow algorithm and changing the weight.The main research contents are as follows :(1)Taking the motorcycle armrest as the research object,according to the requirements of armrest grinding process,a set of grinding workstation suitable for the actual working conditions of RH company is established by combining the flexible grinding head with constant grinding force,industrial robot and supporting equipment.(2)The D-H method is used to model the kinematics of industrial robots,and the correctness of the selected industrial robot model is verified.The forward and inverse kinematics of the industrial robot model are studied.The forward kinematics derives the pose matrix of the end effector from the base coordinate,and the inverse kinematics calculates the motion angle of each joint through the pose matrix.(3)The non-uniform B-spline curve is used to plan the grinding trajectory.The fiveorder non-uniform B-spline curve interpolation joint trajectory is obtained through simulation experiments.This method can improve the smoothness of joint angular velocity,angular acceleration and pulse motion curve.The improved sparrow algorithm is used to optimize the time-pulsating impact multi-objective optimization.The optimal weight value is selected according to the comparative experiment,and the time-pulsating impact comprehensive optimal solution is obtained according to the selected weight value.MATLAB trajectory planning simulation experiments show that this method can not only effectively improve the operation efficiency of industrial robots,reduce pulsation impact,improve trajectory smoothness,but also reduce energy consumption.(4)Based on Robot Studio software,by importing the model,configuring the workstation system,establishing tools and workpiece coordinates,etc.,a grinding workstation that meets the actual production needs is constructed.The grinding experiment is carried out by using the simulation software to verify the rationality of the grinding trajectory,and the offline grinding trajectory is derived through the post function.更多还原