【作者】 张小江；

【导师】 高秀华；

【作者基本信息】 吉林大学 ， 机械设计及理论， 2006， 硕士

【摘要】 本文根据齐次变换理论,建立了机器人六个关节元件间的坐标传递关系。根据其变换关系,建立了机器人运动的正问题和逆问题,并使用DELMIA软件验证了正问题和逆问题的正确性。在轨迹规划中,讨论了应用较为广泛的抛物线插值,并采用三次样条插值对机器人的轨迹进行优化。在DELMIA软件中对机器人基于抛物线插值进行了仿真,得到的结果与SIMULINK得到的结果一致;基于DELMIA实现了机器人的离线编程。借助齐次变换矩阵及矢量方法推导出机器人末端的速度和加速度公式,借助MATLAB编写了其程序,并对其进行分析验证。国内对机器人动力学的研究大都停留在理论分析阶段,存在理论与实际脱节的现象。本文通过对KUKA240-2型机器人的研究,将理论和实际相结合,对牛顿-欧拉方程进行改进,并在此基础上建立机器人动力学模型,通过MATLAB程序得到机器人动力学的特性曲线,并用SIMULINK进行验证,结果证明改进算法的正确性。运用DELMIA软件对机器人运动学正问题和逆问题进行验证及其仿真和离线程序的初探,说明DELMIA在机器人仿真和离线编程方面的优越性能。对机器人进行轨迹优化、运动学和动力学分析,为实现机器人仿真和离线编程提供了有力的理论依据。更多还原

【Abstract】 Robot is a programablem automatical machine. The level of robottechnique reflects the technology of the nation’s integrated strength.The industry robot has been applied abroad. For the moment, therequirements of the industry robots concentrate in the industries whichhave much capital, high technology and require much more labour.The technology of the industry robot and the level of theapplication are not good as the foreign country.The kinematics and dynamics are questions for discussion in therobot techniques and in the study of the robot. So far, they have beenfar-flung studied. The study of them has great means in the design ofrobot’s machine and in it’s control system. The research on kineticand dynamical modeling of the robot is important in it’s analysis ofkinamatics and dynamatics. It great matters to robot control, dynamiccharacteristic and the optimization of the dynamitics.At present, the teaching programming is also mainly adopted inindustrial robots. robot simulation and off-line programmingtechnology are not mature. Most techniques are in a stage of studing.Only a little have been mature or are becoming mature. Thetechnologies of robot simulation and off-line programming have greatmeaning in the application of the robot and in improving the workefficiency. Off-line program is able to save much time inmanufacturing. The real-time simulation will come true based on it. Itwill also provide a secure and flexible condition. It is a studingdomain in the exploiture and in the application of the robot.The kinematics and dynamics of the robot are main problems inthis dissertation. The kinematics model and dynamics model, theoptimization of the trajectory planning, robot simulation and off-lineprogramming are studied.(1) The model of six-joint robot is created. Both of the referenceand the bar coordinate systems are defined. Based on the homogenouscoordinate and homogenous coordinate transformation of the matricestheory, the transformation matrices between the two coordinates areestablished. Based on the homogenous coordinate transformationmatrices, the direct kinematic equation and the inverse kinematicequation are established. For the first time, the direct kinematicequation and the inverse kinematic equation are tested by DELMIA.The result validated the correctness of the equations.(2) In robot trajectory planning, the content is studies as follows:analyse robot trajectory planning means, choose the planning based oncubic splines so as to avoid limitation of the method of parabolatransition. Based on cubic splines, the trajectory is optimized:According to the angle velocity, angle acceleration of the first threejoints, restriction conditions are established. Optimized tracks aregained by means of programming in MATLAB. The study of robottrajectory planning makes the base of the reasearch on robot’skinematics and dynamics.(3) In robot simulation and off-line programming, for the first time,the simulation are realized based on parabola method in DELMIA.The trochoid of any joint and the terminal tracks are gained. The resultsare identical to the result of the SIMULINK.Base on the simulation;theoff-line programming is attempted in DELMIA. The result has testedthat DELMIA is a good tool in robot simulation and in off-lineprogramming. It has some reference value for robot simulation andoff-line programming with other methods.(4) In the study of kinematic model, based on the homogenouscoordinate transformation matrics, the homogenous transformationmatrices and the velocity, the acceleration, the angle velocity, the angleacceleration eqation are established. The kinematic characteristics arerealized by means of programming in MATLAB. The results are testedwith SIMULINK.(5) In the study of dynamics model and the simulation, theindustrial robot’s dynamics is a complicated system. The robot iscomposed of many components and many joints. The model has manyinputs and outputs. The model has severe coupling and nonlinearproblems. The Newton-Euler equation is adopted among someadoptable methods. Based on the homogenous coordinate andhomogenous coordinate transformation of the matrices theory and theNewton-Euler equation, the dynamics model is established. Base on thehomogenous coordinate transformation matrics, the homogenoustransformation matrices and the velocity and the acceleration eqationare established of center of each bar of the manipulator. Based on theNewton-Euler equation, the recursive answers to dynamic problem andinverse problem are established. Base on the optimized trajectory;thedynamic programming is written with MATLAB. The kinematiccharacteristics are realized by means of programming in MATLAB.In this dissertation, the direct kinematic problem, the inversekinematic problem, the trajectory planning, robot simulation, off-lineprogramming, the kinematics and dynamics are studied. It also hassome reference value for the further study in robot simulation, off-lineprogramming and the robot control.更多还原