【作者】 刘春利；

【导师】 柳洪义；

【作者基本信息】 东北大学 ， 机械电子工程， 2008， 硕士

【摘要】 机器人是一种典型的机电一体化设备,广泛应用于工业生产、太空和海洋探索、国防技术等领域。在固体火箭发动机壳体制造过程中,壳体内壁粘有脱模剂,需要打磨掉后再进行下一工序。传统的手工打磨不仅打磨效率和质量低下,而且粉尘对工作人员的健康有很大伤害。为了提高生产效率及改善作业环境,研制了打磨机器人,以实现打磨过程的自动化、智能化。本文以打磨机器人开发研究为基础,探讨开发设计自动化机械产品的一般方法。采用功能设计的方法,通过比较选择,误差分析,类比推理等手段得到打磨机器人的动力源,传动方案,以及细节结构的合理性。采用动态设计法,对主车进行了运动学和动力学分析,论述了可靠性设计的一般方法,利用ANSYS对关键部件进行了分析,得到了其变形量,并进行推理,得到打磨头变形量,为机构和功能设计提供理论依据,为智能设计做好准备。根据客户要求,打磨过程要求实现全自动化,分析了打磨机器人的控制原理和控制系统结构,搭建了IPC+Pmac的智能控制系统,合理选择了各辅助设备,并进行了软件编程,很好的得到了机器人的控制系统。实现了打磨机器人主车三维可视化设计,以PrO/E三维造型软件为基础,对打磨机器人进行了三维建模,检验了打磨机器人各部分结构的合理性,实现了运动过程和工作过程的可视化。更多还原

【Abstract】 Robot technique as a synthesis system is widely used in scope of industrial production, exploration of the sea and the space, national defense etc. In the manufacture process of the engine shell for solid rocket, mold lubricant is stick at its inner-wall, which needs polish off. The traditional manual polish method is not only inefficiency and low-quality, but also the dust, which is great harm for the health of staff. In order to improve production efficiency and improve the working environment, people have developed polishing robot to achieve the polishing process automation and intelligent.The thesis probes into a normal method for design of automatic mechanic product, based on research of polishing robot. Adopting method of function design gets polishing robot’s power, drive project and rationality of detail structure by comparing and choosing, error analyzing and analogism.Adopting method of dynamic design analyze kinematics and dynamics of main car and discuss commonly method of design of security obtains all joints’ variety range and drive power. Analyzing key part with ANSYS gets its distortion quantity. And then, by logic, get distortion quantity of polishing head. This is theory gist for machine and function design and making prepares for intelligent design.Polishing process must be automatic according to customer’s demand. By method of intelligent design, analyze the control principle and the control system structure of polishing robot, establish intelligent control system with IPC+PMAC, reasonably choose all assistant equipment, and design soft programme, get the control system of the polishing robot.Adopting method of visual design models three dimensional model of polishing robot with Pro/E. Check up the rationality of polishing robot every parts’structure. Set up visual process of moving and working of polishing robot main vehicle.更多还原