【作者】 郑怀兵；

【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,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、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,壳体内部由于制造工艺的限制,有一层很薄的脱粘层,而该脱粘层必须清除,以避免影响以后的加工过程。传统的打磨工作是手工完成的,不仅打磨效率极为低下,而且粉尘对工作人员的健康极为不利。为了提高生产效率及改善作业环境,我们研制了打磨机器人,以实现打磨过程的自动化、智能化。打磨机器人是一台四自由度的移动机器人。本体设计由轮式移动机构设计和机械臂设计组成,其中本论文不涉及轮式移动机构设计。机械臂模仿人的手臂设计成三个自由度,末端执行器采用柔性与刚性相结合的结构,通过调整各关节角可使机器人对空间一定范围内的目标进行打磨。首先,对机器人自动规划技术进行了研究,以“打磨机器人”规划系统为例,详细阐述了机器人操作任务和工作环境模型的表述,操作任务分解原理,子任务的求解与实现方法。并对机器人进行运动学分析,确定了臂部的关键参数。其次,以Pro/E软件为基础,对打磨机器人手臂结构进行设计,包括关键参数的确定与优化,分别建立了大臂、小臂和腕部的实体模型,对小臂和腕部的传动方式进行选择,并最终确定为链传动。最后,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,将Pro/E建立好的实体模型导入ANSYS中,进行强度、刚度分析,分别确定应力最大和变形量最大发生的部位。接着在ANSYS中对手臂进行动力学分析,包括模态、谐响应和瞬态分析,确定手臂的固有频率和手臂在受到不定载荷激励下的振动及变形情况。更多还原

【Abstract】 Robot technique as a synthesis system, which includes kinematics and dynamics theory, machine design and manufacture, computer hardware and software, control theory, sensor technology, artificial intelligence and so on, is widely used in scope of industrial production, exploration of the space and the sea, national defense etc. In the process of the manufacturing of the shell of solid rocket, there is a thin inadhesion layer on the insider shell. And we have to scrape off the layer because it is in the way of the later manufacturing process. The milling work was done by hand before. It’s not only inefficient, but also harmful to the workers’health because of the dust. In order to solve these problems, we have developed this polishing robot.Polishing robot is a moving robot with four DOF. The job contains wheel structure and mechanical arm design, and this paper doesn’t involve wheel structure. The arm has 3 degrees like human arm, and end offector with flexible and rigidity frame can polish the target through adjusting the angle of joints. Firstly, Robot automate planning technology is researched deeply in this paper. The polishing robot planning system is described as an example, including modeling of assignment and working condition, operate assignment decomposing principle, solving and realizing of sub-assignment. And through kinematics analysis of robot, the key parameters of arm is designed.Secondly, based on the Pro/E software, we have designed the arm of polishing robot, including the determination and optimization of key parameters, and designed the solid models of big arm, small arm and wrist. Then chosen the transmission method of small arm and wrist, and identified as chain drive.Finally, in order to check the rationality of machinery design and planning result, this paper transmits the solid model from Pro/E to ANSYS for the analysis of intensity and rigidity, and find out the sites of the maximum stress and the maximum deformation. Then this paper performs the dynamic analysis of arm, including modal, harmonic and transient, which help to determine the nature frequency of arm and the vibration and deformation states with uncertain loading incentives of arm.更多还原