【作者】 林琳；

【导师】 柳洪义；

【作者基本信息】 东北大学 ， 机械电子工程， 2009， 硕士

【摘要】 机器人是一种典型的机电一体化设备,集运动学与动力学理论、机械设计与制造技术、计算机硬软件技术、控制理论、传感器技术、人工智能理论等科学及技术于一体,广泛应用于工业生产、国防技术等领域。平面关节型机器人即为SCARA(Selectively Compliance Assembly Robot Arm)型工业机器人。它在水平方向上运动空间灵活,非常适合应用于搬运、焊接和装配等重复性任务中,因此在工业生产中得到广泛应用。本课题设计了一四自由度平面关节型机器人的本体及其控制系统,并将整个系统加工实现。本课题根据平面关节型机器人的应用特点,首先采用模块化设计理念完成它的本体设计,各模块相互独立、结构紧凑、安装方便,其中某些模块设计方法可被其它型机器人借鉴。同时,对工业机器人的关键部分详细进行设计、核算。其次,运用D-H法对所设计的机器人进行运动系统建模,通过变换方程实现运动学正解,同时结合代数法和几何法实现运动学反解。之后根据现有机器人动力学分析方法,选择拉格朗日法建立机器人的完整动力学显式方程,以最简单的形式分析复杂的系统动力学。依据上述分析,根据机器人轨迹规划技术,讨论机器人的关节空间轨迹规划算法和笛卡儿空间的直线轨迹插补方法。为了检验机器人手臂各部分结构设计和规划结果的合理性,采用ADAMS软件对已设计的机器人进行运动学动力学的三维仿真。在ADAMS中的仿真结果可以为机器人的实际应用提供理论上的依据和支持。最后,将机器人本体加工,选择并搭建机器人以IPC+PMAC为基础的控制系统,通过软件系统编程实现了运动控制。对控制系统进行试验,试验结果表明该控制系统响应速度较快、定位精度较高、重复误差较小。更多还原

【Abstract】 Robots are typical equipments of mechatronics, which include the kinematics and dynamics theory, the mechanical design and manufacturing technology, the computer hardware and software technology, the control theory, the sensor technology, the artificial intelligence and so on. Robots are widely used in the fields of industrial production, defense technology and so on.The SCARA (Selectively Compliance Assembly Robot Arm) robots are widely applied in the repeat tasks such as conveying, jointing, assembly etc. for their flexible working space in the horizontal direction. One 4-DOF (Degree Of Freedoms) SCARA robot’s mechanism and its control system were designed in this thesis, then manufactured the whole robot.According to the characteristic of the SCARA robot, firstly modular-design methodology was utilized to design the mechanism. Every module is independent, compact and easy to install. Some components can be used as reference to other robots. Also, some key parts of the robot have been designed detailedly, then they have been checked.Secondly, based on D-H method, models of the kinematics system were built. The kinematics positive solution can be deduced by a series of transformation equations, and the inverse kinematics can be deduced by the combination of algebraic and geometrical method. After that, according to the theories of dynamic analysis, the Lagrange method was applied to build a complete explicit dynamic equation of the robot. This equation can easily solve the dynamics of the complex system. Meanwhile, according to the analysis above and by analyzing the trajectory planning algorithms of the robot, the path planning algorithm in the joint space and a linear interpolation algorithm in the Cartesian space were talked over.In order to verify the rationality of the mechanism design and the trajectory planning result, the software ADAMS was used to perform the 3D simulation of the kinematics and the dynamics for the robot. The results of the simulation are the basis and the support of the theories for the practical applications.Finally, the whole robot was manufactured, then the control system based on IPC+PMAC was chose and built, the motion control was realized by software programming. The whole control system had satisfied test results:faster response, higher positioning accuracy and smaller repeat error after testing it.更多还原