基于虚拟样机技术的4-DOF混联码垛机器人运动学和动力学的研究及参数优化

【作者】 李传龙；

【导师】 郭钢；

【作者基本信息】 南京理工大学 ， 机械工程， 2012， 硕士

【摘要】 近年来使用于自动化生产线上的由串并联机构组成的混联机器人的开发及应用是机械加工业的发展趋势,本文对4-DOF混联码垛机器人进行的运动学、动力学分析及参数化优化设计,对机器人的控制具有重要的理论意义和实用价值。本文结合齐次坐标变换矩阵和D-H法对码垛机器人进行运动学求解,获得了所有关节的位置正反解析解,运用运动影响系数矩阵对码垛机器人进行了速度和加速度分析,得到了简洁明了的速度和加速度表达式。对码垛机器人进行结构简化,并将简化后的结构拆分为左支链和右支链,运用凯恩法推导出其动力学方程模型。然后在Pro/E环境下建模并进行虚拟装配得到机器人的总体结构模型,导入ADAMS环境下对该机器人进行运动学仿真分析,得到机器人末端位置的位移、速度和加速度曲线图,并将仿真分析得到的结果与理论计算的结果进行比较,通过仿真分析验证了理论计算的正确性,为该机器人的动力学研究及参数化优化设计提供了可靠基础。最后,在ADAMS/View环境下建立码垛机器人参数化模型,选择设计变量,设定变量的变化范围,确定优化目标,应用ADAMS/View自带的强大设计研究和优化设计功能模块,对模型进行参数化优化设计,最终得到一组设计变量值使得码垛机器人的动力学性能最优。更多还原

【Abstract】 Recently the development and the application of the hybrid robot composed of the series-parallel mechanism which is used in the automation production line is the development tendency of mechanical machining industry. This paper analyses the kinematic and dynamic features of the 4-DOF hybrid stacking robot and its parameterized optimization design, and the research achievement has great theoretical significance and practical value to the control of the robot.Combining the homogeneous coordinate transformation matrix with D-H method, this paper solves the kinematic equations of the stacking robot and works out the analytic forward and reverse position solutions of all joints. Utilizing kinematic influence coefficient matrix, then analyses velocity and acceleration of the stacking robot, gets the concise velocity and acceleration expressions. Simplifying the structure of stacking robot, then divides it into the left branch chain and right one, and develops the dynamic equation model by utilizing the Kane method. After that, this paper builds the robot structure model and virtually assembles it in Pro/E software, then introduces it into ADAMS software and conducts the kinematics simulation, gets the displacement, velocity and acceleration graphs. Comparing the simulation results with theoretical calculation results, it finds that the simulation verifies the correctness of theoretical calculation, these provide the reliable bases for the dynamics study and parameterized optimization design of the robot.At last, this paper builds the parameterized model of the stacking robot in ADAMS/View, selects the design variables, sets the range of the variables and establishes the optimization goals, then ADAMS/View provides powerful design study and optimization functional modules to carry out parameterized optimization design of the robot, finally gets a group of variables which optimize the dynamic performance of the stacking robot.更多还原