【作者】 刘涛；

【导师】 芮执元；

【作者基本信息】 兰州理工大学 ， 机械制造及其自动化， 2010， 硕士

【摘要】 近年来,机器人技术发展非常迅速,各种用途的机器人在各个领域得到广泛的应用。于此同时,码垛技术也获得了飞速发展,尤其是机器人码垛发展更为迅猛,这种发展趋势是与当今制造领域出现的多品种小批量的发展趋势相适应的。铝锭层码垛机器人是整条铝锭连铸生产线中重要的环节,它的动静态性能直接影响着整条生产线的生产效率。我国在机器人的研究和应用方面与工业化国家相比还有一定的差距,因此研究和设计各种机器人特别是工业机器人是有实际意义的。本文的工作是围绕一个关节型层码垛机器人的设计和分析进行的。本文首先根据铝锭连铸生产线的工作要求确定机器人的各项基本技术指标,为机器人的结构设计提供依据。在参考多种相关机器人的基础上,设计了机器人的整体方案和机械结构,层码垛机器人是四自由度关节型串联机器人,所有关节均采用转动关节,确定了采用伺服电机和RV减速器的传动方案。在对机器人关键工作状况进行分析的基础上,选取了各关节电机、减速器的具体型号,给出了主要零部件的结构参数图。采用D—H法建立层码垛机器人的数学模型,推导了机器人的运动学方程,对其运动学和雅可比矩阵进行求解,此外,对机器人的工作空间进行了分析并对机器人关节速度和加速度进行了分析。在此基础上,运用拉格朗日法对层码垛机器人进行了动力学分析,推导出各个杆件的动力学方程,求出各个关节的驱动力矩。应用ADAMS软件对层码垛机器人进行了运动学和动力学的仿真,验证了理论推导的正确性。最后运用ANSYS软件对机器人进行了静力和动态力的有限元分析,目的是为了检验设计的机器人结构在强度和刚度上是否能够满足工作的要求。更多还原

【Abstract】 In recent years, the robot technology is developing very fast, various uses of robots are widely applied in various fields. Meanwhile, palletizing technology also won the rapid development, particularly the development of robotic palletizing more rapidly and this trend is the emergence of today’s small quantities of many varieties manufacturing suited to the development trend. Aluminum ingot layer palletizing robot is an important part of the whole aluminum ingot casting line, its dynamic and static performance directly affects the production efficiency. Compared with industrialized countries, China has a certain gap in the research and application of robots, so study and design of robot especially industrial robots is practical. This work is carried out around the design and analysis of a joint type layer palletizing robot.In this article, the basic technical indicators of robot are determined according to the operational requirements of aluminum ingot casting line firstly, which is as the basis for the structural design of the robot. In reference to a variety of related robot, the article design the overall plan of the robot program and mechanical structure and layer stacking robot for 4-DOF joint type series robot, adopt the rotational joint, adopt servo motor and RV reducer transmission program. Based on the analysis on the key working status of the robot, selected the joint motor, reducer specific model, given the major components of the structural parameters of Fig.Using D-H method to establish the mathematical model of layer palletizing robot, and deduce the robot kinematics equations, solve the kinematics and Jacobi matrix. On this basis, using Lagrange method on the dynamic analysis of layer palletizing robot, deduce the dynamics equation of each poles, obtain the driving torque of each joints. With the application of ADAMS software to obtain palletizing robot kinematics and dynamics simulation, the correctness of the theory is validated. Finally using ANSYS software of static and dynamic finite element analysis on robot, the purpose is to verify whether the robot structure design can satisfy the job requirements in strength and stiffness.更多还原