【作者】 孙玉钢；

【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】 本课题是以东北大学与某工厂的实际合作项目为背景进行的,此项目为“打磨机器人”的开发。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,所以机器人的开发过程是一个复杂的系统工程,往往会需要多种学科的专业人员和多个部门的协同工作,为了以最低的成本在规定的工期内完成高质量产品,对整个机器人开发全过程的研究是必要的。并且,通过分析研究这个产品开发的全过程,能够给其它一些高新技术产品开发的顺利进行提供参考。本文在分析当前国际和国内产品开发过程研究状况的基础上,结合机器人开发的独有特性,对打磨机器人的开发过程进行建模,分析了打磨机器人开发过程。详细地对市场需求进行了分析与研究,把市场需求分为直接市场需求、潜在市场需求,在此基础上,分析了潜在市场需求和关键技术之间的关系,得出潜在市场推动关键技术提升等结论。进行了工艺制定和生产制造方面的分析,并针对外协制造提出了“分散加工,集中装配”方法。然后重点对打磨机器人进行了功能设计与分析,提出“关键技术和试验贯穿整个产品开发过程”、“关键技术决定产品广义质量”等理念。并针对打磨机器人机械手臂进行了性能设计分析,提出一些在设计方法方面的思想。最后,通过打磨机器人开发过程的综合分析,得出类似产品开发过程的一般规律,并给出了在产品开发过程中的一些关键点。更多还原

【Abstract】 The thesis roots in the cooperative project, which name is Development of Polishing Robot, with a Arsenal. As a synthesis system, robot is composed of kinematics and dynamics theory, machine design and manufacture, computer hardware and software, control theory, sensor technology, artificial intelligence and so on. The process of developing a new robot product is a complicated systems engineering, where cooperation of professional in different subjects and different departments is needed. It’s imperative to research the total process of product development in order to provide references for other high-tech products’ development.Considered the speciality of robots’exploiture, the model of the polishing robot’s develping process is established based on the analysis of recent robot development in our country and abroad. The whole process of the polishing robot’s exploiture is deeply studied based on this model. Classify market demands into direct market demands and potential market demands by analysis of market demands. Analyse the relationship of potential market demands and key technique and get the conclusion that potential market demands make key technique developing. Analyse the aspect of craftwork and manufacturing and propose a method of dispersedly machining and concentrated assembling according to partly manufacturing outside. Then main point is function design and analysis of polishing robot. Bring up some conceptions such as that key technique and experiment is always in process of products exploiture and key technique controls the quality of products. Design and analyse the polishing robot arm and propose some new methods of mechanical design. Find normal rule of process of similar products by analysis of exploiture process of polishing robot and some key points in process of exploiture of products.更多还原