【作者】 李坤；

【导师】 杨家军；

【作者基本信息】 华中科技大学 ， 机械设计及理论， 2007， 硕士

【摘要】 从21世纪先进制造技术发展来看,焊接自动化生产己是必然趋势。在焊接生产中采用机器人技术,可以提高生产率、改善劳动条件、稳定和保证焊接质量、实现小批量产品的焊接自动化。采用机器人焊接已成为焊接自动化技术现代化的主要标志。本文主要针对减速器箱体类零件结构类似、尺寸各异,焊缝长、单条焊缝宽等特点,进行了专门针对减速器箱体焊接的专用焊接机器人的方案设计,设计的专用机器人采用模块化设计,具有通用性强,经济性好等特点,而后针对设计方案分别采用D-H法和拉格朗日方法,对机器人的运动学和动力学进行分析,建立了机器人整体结构的运动学、动力学模型,使用Pro/E软件建立了机器人的实体模型,利用接口软件MECHANISM/Pro将实体模型导入机械系统动力学软件ADAMS中,通过添加约束、驱动等形成机器人的仿真模型,按照设定的末端焊枪运动轨迹,对焊接过程进行运动学、动力学仿真,并研究了机器人的运动学和动力学指标在仿真过程中的变化情况。通过仿真,验证了机器人结构设计方案的合理性以及运动学、动力学方程的规范性和正确性,为以后进一步对机器人的本体结构设计、稳定性的研究、轨迹规划及控制系统的设计等提供了真实有效的仿真实验数据。利用虚拟样机技术,为物理样机的研制提供了充分的数据,达到了降低设计费用、缩短设计周期,提高设计质量的目的。更多还原

【Abstract】 The development of advanced manufacturing technology in the 21st century shows that welding automation is an inevitable trend. To use the robot technology in the welding production may enhance the productivity, improve the work condition, stabilize and guarantee the welding quality and realize welding automation of the small batch of products. It has become the main symbol of the modernity of the welding automation technology to use the robot welding.Mainly aimed at the driller gear reducer case components structure similar, the size respectively different, welded joint long, characteristic and so on single scroll welded joint width, carried on has specially aimed at the special-purpose welding robot plan design which the driller gear reducer case welded, the design special-purpose robot uses the modular design, had the versatility strongly, the efficiency was good and so on the characteristic, then puts forward the structural design scheme which is specially aimed at the arc welding robot of the reduction gear box body welding, separately adopting the D-H law and the Lagrange method, analyzing the robot kinematics and dynamics, establishing the kinematics and dynamics model of the robot overall construction ,building the entity model of robots by using the Pro/E software, conducting the actual models into the dynamics software - ADAMS of technological system dynamics by means of the MECHANISM/Pro software, carrying on the kinematics, dynamics simulation of the welding process through forming the robot simulation model after increasing restraint and actuation, and studying the changing situation of the robot kinematics and dynamics target during the simulation process.Through the simulation, it has been confirmed that the robot structural design is rational and that the kinematics and dynamic equation is standard and accurate, which will provide real and effective simulation empirical datum for further studies on the structural design of robot main body, the stable research, the path plan and design of the control system .The use of the virtual prototypical technology has offered adequate data for the research on physical prototype so as to cut the design costs, shorten the design cycle and improve the design quality.更多还原