【作者】 屈云涛；

【导师】 周玉林；

【作者基本信息】 燕山大学 ， 机械设计及理论， 2012， 硕士

【摘要】 工业机器人是典型的机电一体化装备，能够适应柔性自动化的生产要求，因此得到了广泛的应用与快速的发展。冲压机器人作为金属冲压领域的特殊工业机器人，它的使用已成为提高劳动生产率和改善劳动条件的有效措施和主要方法。本文依托国家科技重大专项燕山大学课题组承担的《大型伺服压力机冲压线自动化上下料技术研究》任务要求，研究具有负载大、稳定性高、适应性强的冲压线上料机器人本体设计技术，确定重要参数和一般设计过程，完成六自由度关节型上料机器人的本体设计，并针对冲压机器人若干关键技术进行了以下研究：(1)根据冲压自动化生产线给定工艺要求，确定上料机器人主要技术参数，完成上料机器人构型设计，并基于人体上肢尺寸测量标准数据，利用三动杆原理，建立工业机器人尺寸参数模型，为机器人尺寸参数的确定提供参考依据。(2)完成上料机器人运动学分析，利用运动学分析结果，结合冲压线生产工艺，完成上料机器人典型路径的轨迹规划，在ADAMS软件中对上料动作进行模拟仿真，验证理论结果的正确性。(3)完成上料机器人机械本体设计，并建立上料机器人动力学模型；基于高速、重载的生产要求，为设计性能优良的机器人，提出关节驱动力系数指标及动态性能波动指标，对原有机器人动力学性能评价指标体系进行了有效补充。(4)为满足工业机器人自主设计开发的需求，提出工业机器人自主开发程序包的设计构想，建立了通用机器人结构模块库，自动搭建满足工程所需的机器人模型，搭建过程中自动编制机器人程序模块，完成机器人学计算，该软件对实现快速、高效的机器人本体设计具有重要意义。更多还原

【Abstract】 Industrial robot has a wide range of applications and rapid development as it is atypical electromechanical integration equipment and it can satisfy the requirement offlexible automatic production. Stamping robot is a kind of special industrial robot instamping area, it has become the effective measures and main methods to improve laborproductivity and working conditions.Based on the research of Yanshan University research group for the National Scienceand Technology Major Projects“the large servo presse stamping line automated loadingand unloading technology”mission requirements, to study with big load and high stability,strong adaptability of robot body design technology for the press line of flexible, efficientand safe production requirements, this dissertation got the basis of important parameters,and a 6 DOF feeding robot body is designed. The research content as follows:(1)The main technical parameters are determined and the structure scheme of thefeeding robot is introduced firstly according to the press line requirements. And theindustrial robot dimension parameter model is built based on the human arm dimensionmeasurement standard data and the theory of three moving links, which provides a basisfor the robot dimension parameters.(2)The feeding robot kinematics analysis is finished. And the feeding robot trajectoryplanning is discussed using the kinematic equation, and the feeding action is simulatedusing ADAMS software, the the results are verified.(3)The feeding robot mechanical body design is completed based on analysis of thestatics, and the feeding robot dynamics is established. Based on the high speed, the heavyproduction requirements, put forward the joint driving force index and dynamicperformance index for the excellent performance of the robot design, which add theoriginal robot dynamic performance evaluation index system effectively.(4)A industrial robot autonomous development program package design conception ispresented, which can meet the development of industrial robots autonomous designrequirements. The structure module base is built, and the software can assemble the robot model and calculate automatically, which achieves fast and efficient robot body design.更多还原