【作者】 李浩；

【导师】 张小玲；

【作者基本信息】 电子科技大学 ， 机械工程（专业学位）， 2023， 硕士

【摘要】 工业机器人是智能制造的重要装备,被誉为“制造业皇冠顶端的明珠”,提高其设计水平和可靠性是《中国制造2025》研究的一个重要方向。轨迹规划是工业机器人研究的重要基础,对提升工业机器人运动性能、可靠性和安全性等方面具有重大意义。六轴机器人主要由本体结构件、减速器、伺服电机、控制器等构成,减速器用于承载机器人各个关节载荷。RV(Rotary Vector,RV)减速器具有结构紧凑,传动平稳、承载能力强等特点,是工业机器人关节关键部件之一。RV减速器一般被放置在大臂、肩部等重负载位置,其传动精度对工业机器人有着重要影响。工业机器人轨迹精度是衡量工业机器人性能的重要指标之一,制造、装配误差、负载等不确定性因素影响下,如何高效率、高精度评估工业机器人轨迹精度及其可靠性是本文的重要研究内容。工业机器人运动学分析、动力学分析、轨迹规划、不确定性量化是精确评估工业机器人轨迹精度可靠性的重要步骤。本文的主要内容包含四部分内容:考虑关节柔性的工业机器人运动学和动力学分析;工业机器人多目标轨迹规划;关节RV减速器动态传动误差及其不确定性分析;考虑关节动态传动误差、加工、装配误差等不确定性的工业机器人轨迹精度可靠性分析。具体工作如下:(1)柔性关节机器人运动学和动力学分析。运动学和动力学分析是工业机器人研究的基础,本文通过拉格朗日法建立具有关节柔性的工业机器人动力学模型。以IRB1600型机器人为原型,在MATLAB中进行具有关节柔性的工业机器人的动力学仿真,分析不同关节刚度下机器人末端轨迹。(2)考虑关节柔性的工业机器人多目标轨迹规划。轨迹规划是保障工业机器人轨迹精度的重要环节。如何在提升工业机器人工作效率的同时,降低工业机器人工作能耗且提升轨迹的平稳性等目标是工业机器人轨迹规划研究的重点。本文针对IRB1600型工业机器人建立其多目标轨迹优化模型,并基于智能优化算法进行优化求解。(3)工业机器人关节减速器动态传动误差分析及其不确定性量化。关节减速器作为工业机器人动力传动的关键零部件,其动态传动精度对工业机器人末端轨迹精度有着重要影响。如何高效率、高精度量化不确定性因素影响下关节减速器动态传动误差的随机特征是本文的一个重要研究内容。本文考虑关节负载不确定性、RV减速器摆线轮齿侧间隙不确定性和装配误差随机性的影响,基于ADAMS动力学仿真和多项式混沌展开建立其不确定性量化模型,分析RV减速器动态传动误差的随机分布特征。(4)考虑关节动态传统误差随机性的工业机器人轨迹精度可靠性评估。工业机器人轨迹精度可靠性评估是一个时变非线性问题。如何高精度、高效率评估轨迹精度可靠性一直是工业机器人可靠性研究的重点。本文考虑关节RV减速器动态传动误差、制造和装配误差随机性建立工业机器人轨迹精度可靠性评估模型,基于ADAMS和MATLAB的联合仿真对工业机器人末端轨迹进行批量仿真得到末端轨迹误差数据。在此基础上基于多项式混沌展开和鞍点近似分析工业机器人末端轨迹精度可靠性,为提高机器人运动精度可靠性提供基础。更多还原

【Abstract】 Industrial robot is an important equipment of intelligent manufacturing,known as "the pearl at the top of the manufacturing crown".Improving its design level and reliability is an important direction of the research of “Made in China 2025”.Trajectory planning is an important foundation for the research of industrial robots,and has significant implications for improving the motion performance,reliability,and safety of industrial robots.The six-axis robot is mainly composed of body structural components,reducers,servo motors,controllers,etc.The reducers are used to carry the loads of various joints of the robot.RV(Rotary Vector,RV)reducer has the characteristics of compact structure,smooth transmission,and strong load-bearing capacity,making it one of the key components of industrial robot joints.RV reducers are generally placed in heavy load positions such as the boom and shoulders,and their transmission accuracy has a significant impact on industrial robots.The trajectory accuracy of industrial robots is one of the important indicators to measure their performance.Under the influence of uncertain factors such as manufacturing,assembly errors,and loads,how to efficiently and accurately evaluate the trajectory accuracy and reliability of industrial robots is an important research content of this thesis.Kinematics analysis,dynamics analysis,trajectory planning and uncertainty quantification are important steps to accurately evaluate the reliability of industrial robot trajectory accuracy.The main content of this paper includes four parts: Kinematics and dynamics analysis of industrial robot considering joint flexibility;Multi objective trajectory planning for industrial robots;Dynamic transmission error and uncertainty analysis of joint RV reducer;Reliability analysis of industrial robot trajectory accuracy considering uncertainties such as joint dynamic transmission errors,machining and assembly errors.The specific work is as follows:(1)Kinematics and dynamics analysis of flexible joint robot.Kinematics and dynamics analysis are the basis of industrial robot research.In this paper,the dynamic model of industrial robot with joint flexibility is established based on Lagrange method.Taking the IRB1600 robot as the prototype,dynamic simulation of an industrial robot with joint flexibility is conducted in MATLAB,and the end trajectory of the robot is analyzed under different joint stiffness.(2)Multi objective trajectory planning for industrial robots considering joint flexibility.Trajectory planning is an important link in ensuring the trajectory accuracy of industrial robots.How to improve the efficiency of industrial robots while reducing their energy consumption and improving the smoothness of their trajectories is the focus of research on trajectory planning for industrial robots.This thesis establishes a multiobjective trajectory optimization model for the IRB1600 industrial robot and solves it based on intelligent optimization algorithms.(3)Dynamic transmission error analysis and uncertainty quantification of industrial robot joint reducer.As a key component of industrial robot power transmission,the dynamic transmission accuracy of joint reducer has a significant impact on the end trajectory accuracy of industrial robots.How to efficiently and accurately quantify the random characteristics of dynamic transmission errors of joint reducers under the influence of uncertainty factors is an important research content of this thisis.This thesis considers the effects of joint load uncertainty,RV reducer cycloidal gear backlash uncertainty,and assembly error randomness.Based on ADAMS dynamic simulation and polynomial chaos expansion,an uncertainty quantification model is established to analyze the random distribution characteristics of dynamic transmission error for RV reducer.(4)Reliability evaluation of industrial robot trajectory accuracy considering the randomness of traditional joint dynamic error.The reliability evaluation of industrial robot trajectory accuracy is a time-varying nonlinear problem.How to evaluate the reliability of trajectory accuracy with high precision and efficiency has always been the focus of industrial robot reliability research.This thesis considers the randomness of dynamic transmission error,manufacturing and assembly error of joint RV reducers to establish a reliability evaluation model for industrial robot trajectory accuracy.Based on the joint simulation by ADAMS and MATLAB,batch simulation of industrial robot end trajectory is conducted to obtain end trajectory error data.On this basis,the accuracy and reliability of the end trajectory of industrial robots are analyzed based on polynomial chaotic expansion and saddle point approximation,providing a foundation for improving the reliability of robot motion accuracy.更多还原