【作者】 高超；

【导师】 王效岳；

【作者基本信息】 山东理工大学 ， 机械电子工程， 2006， 硕士

【摘要】 数控机床和工业机器人出现在20世纪50年代。经过50多年的研究开发,国内外取得了很多的研究成果,但依然存在着问题与不足。本文通过分析数控机床和工业机器人,针对它们所存在的问题和不足,提出了基于串联机构的新型切削加工设备——削加工机器人,并将虚拟现实技术应用到该机器人的运动仿真中。 在分析现有工业机器人刚性差、精度低的基础上,设计出一种新型的串联切削加工机器人。采用模块化的设计技术,设计了五种基本功能模块,根据加工对象的要求可快速地组合成多种不同的结构型式。并且对各模块主要零部件进行了设计。该切削加工机器人不仅具有机器人一样灵活的柔性,而且具有金属切削机床一样的刚性,特别适合于空间自由曲面的加工与测量等。在表面形成原理和坐标变换的基础上,建立了切削加工机器人的关联加工系统数学模型,给出了切削加工机器人关联矩阵加工方法。根据关联矩阵加工方法,给出了一些常用表面的加工算法。 虚拟现实是一门新兴的技术,目前在许多领域都开展了对其的应用研究。本文采用Pm/E及虚拟现实建模语言(VRML)建立该切削加工机器人的模型,利用VRML的外部程序语言JavaScript编程,结合VRML中的脚本和路由节点实现端铣刀立铣平面的模拟加工,验证了关联矩阵加工方法的正确性。为切削加工机器人的进一步设计,改进和控制提供了依据。更多还原

【Abstract】 The history of research and development about the numerical control (NC) machine tool and industry robots has been for over 50 years. Although many achievements have been made and new types of NC machine tool as well as equipments are developed increasingly, some problems still remain unsolved. The problems unsolved are pointed out by analyzing the situation of the machining equipment using in mechanical industry. In the dissertation, a new type of machining robot based on serials mechanism is studied systematically, and the technique of virtual reality is applied to the simulation of the work of the machining robots. The main research in this dissertation is as bellows:1 On the base of analyzing the reasons of conventional articulate robots having poor stiffness and low kinetic accuracy, a new serial machining robot is designed successfully, which use blocking design method, and five types of fundamental functional modules are also developed. With using modules, different kinds of machining robot can be assembled rapidly according to the demands of the objects to be machined. Main modules are designed in details. Therefore, not only is the flexibility of this machining robot the same as that of robot, but also its stiffness is as high as that of machine tools. It can satisfy especially the demand for machining and measuring the three-dimensional free surface. Based on the coordinate alternation theory, the incidence matrix processing method for the machining robot is described. The machining methods for common surfaces are given.2 As a new development in information technology virtual reality (VR) has been studied in many applied fields at present. The paper established the model of the robot by Pro/E and VRML (virtual reality modeling language), And by programming with JavaScript, a working simulation is carried on .The simulation results indicate that the machining robot developed is reliable and that the incidence matrix processing method and every machining algorithm is correct, which sets up a firm foundation for control and further development.更多还原