【作者】 陈磊；

【导师】 唐倩；

【作者基本信息】 重庆大学 ， 机械工程（专业学位）， 2015， 硕士

【摘要】 作为工业机器人的一个重要分支,喷涂机器人能将工人从恶劣的喷涂环境中解放出来,同时能极大的提高喷涂质量和喷涂效率,在未来有极大的应用前景。目前我国绝大多数装备制造企业涂装线上所采用的自动喷涂机器人基本都是采购于国外厂商。因此,为了同国外喷涂机器人制造公司争夺喷涂机器人市场份额,加快实现喷涂机器人及其自动化成套设备的技术突破和产业化,我国急需攻克喷涂机器人关键技术,降低其制造成本,提升国产化产品的市场竞争力。本文结合与企业合作的具体项目,以六自由度关节型喷涂机器人为研究对象,以实现其产业化为最终目标,主要开展以下研究工作:①根据喷涂机器人的设计要求,结合工业机器人通用的设计方法,将喷涂机器人的整体机构分模块进行结构设计,选用关节坐标型机器人为喷涂机器人的设计类型,选用3R斜交非球型手腕为手腕设计类型,完成喷涂机器人结构的设计。②建立六自由度关节型喷涂机器人的运动学模型,求解各关节运动参数与末端位姿的关系。并利用数学软件对喷涂机器人的工作空间进行仿真,验证所推导的喷涂机器人运动学方程的正确性,以及喷涂机器人结构参数设计的正确性。并利用喷涂机器人运动学方程推导喷涂机器人的速度雅可比矩阵。③研究喷涂机器人运动过程中各关节运动学量与驱动力矩的关系,建立喷涂机器人动力学分析模型,基于拉格朗日方程法推导喷涂机器人的动力学方程。④运用动力学仿真软件ADAMS建立6自由度关节型喷涂机器人的虚拟样机,计算出机器人各关节的峰值扭矩,参照6自由度关节型喷涂机器的运动参数,以及喷涂机器人6个关节轴上的等效转动惯量,选定各关节的伺服电机。更多还原

【Abstract】 As an important branch of industrial robots, spraying robot can liberate workers from poor spraying conditions, at the same time can greatly improve the quality of spraying and spraying efficiency, has great application prospects in the future. At present the automatic spraying robots used in our country equipment manufacturing industries coating production line are mostly from foreign equipment manufacturers, such as ABB, YASKAWA, etc. In order to break the monopoly of foreign manufacturers, our country need to make breakthrough in the key technologies of spraying robot to reduce manufacturing costs, and improve the market competitiveness of products. This paper combined with the project cooperation with an spraying equipment enterprise, with six degrees of freedom joint type spraying robot as the research object, aims at realizing the spraying robot industrialization, the concrete research contents are as follows:① According to the design requirements of spraying robot, combined with the design method of general industrial robot, the spraying robot are divided into some modules to do its structure design,and the joint coordinates type robot is chose as the design types for spraying robot, 3R oblique non-spherical wrist is chose to complete the spraying robot structure design.② The spraying robot coordinate system is established based on the D-H method, to derive the praying robot kinematics equation, and the simulation of the spraying robot work space has done with the mathematical software to verify the correctness of the spraying robot kinematics equation derived, and the correctness of the structural parameters of spraying robot designed. And the robot velocity Jacobi Matrix is derived by using the spraying robot kinematics equation.③ The spraying robot dynamics analysis model is established based on the Lagrange equation method to derive the spraying robot dynamics equation. The equations are used to describe the relationship between the driving torque and the spraying robot motion parameters.④ The 6 DOF joint type spraying robot virtual prototype is established by using the dynamics simulation software ADAMS to calculate the peak torque of each robot joint. The servo motor of each joint is selected based on the movement parameters of the 6 DOF joint type spraying robot, and the equivalent moment of inertia of each shaft.更多还原