【作者】 崔冬；

【导师】 刘宏昭； 原大宁；

【作者基本信息】 西安理工大学 ， 机械设计及理论， 2007， 硕士

【摘要】 三维运动仿真在机器人技术的研究和开发中有重要作用,它对验证机器人的工作原理、工作空间、运动功能、正运动学和逆运动学方程求解的有效性具有非常重要的意义。本文的研究对象是6轴6自由度M₆iB型FANUC机器人。针对该机器人作了以下几个方面的研究:采用坐标系前置的D-H变换矩阵建立M₆iB型FANUC机器人的连杆坐标系,得到机器人相邻坐标参数,进而推导出机器人末端执行器的位姿方程。利用AutoCAD建立了机器人的三维模型,将该模型以各个构件为单元拆分成6个部件并转换成3DS文件。分析了3DS文件格式并编写了在OpenGL环境下开发3DS文件的接口程序。在基于OpenGL环境下和对FANUC机器人结构分析的基础上,开发了该机器人的三维运动仿真系统。该方法逼真地模拟了现实机器人的运动情况,为进一步验证机器人机构与结构设计的合理性、可靠性打下了基础,同时也为其它物体的三维运动仿真提供了一种参考。以M₆iB型FANUC机器人为代表针对该系列机器人开发了参数化的设计系统。该系统可根据输入的机器人的结构参数自动生成机器人三维模型,它减少了用户输入数据的数量,提高了产品的设计效率,同时也为M系列FANUC机器人的系列化设计及运动仿真奠定了基础。在上述三维运动仿真和参数化设计基础上,应用ANSYS软件对机器人手臂结构进行了有限元分析,得到了机器人手臂结构在不同加速度下的弹性变形与应力云图,并分析了不同加速度下的变形对于机器人加工精度的影响。更多还原

【Abstract】 Three-dimensional motion simulation of robot is important in researching and exploitation of robot technology. It’s useful in validating the working theory, the working space, and the motional function of robot, and it’s also very important in validating the correctness of the results of the forward and inverse kinematics analysis. The researching object of this paper is a FANUC M₆iB robot which has six axes and six degree of freedom. The following contents aimed at the robot included:The local coordinate system of the FANUC M₆iB robot links was established based on the D-H transformation matrix of prepositive coordinate, the parameters of adjacent coordinate were gained, and the position and attitude equation of the end effector of the robot was inferred.The three-dimensional robot model was established which used AutoCAD, and the model was split into six parts through each component and then transformed into 3DS file. The interface program which developed 3DS file under the OpenGL was written through analysis the format of the 3DS file. A three-dimensional motion simulation system of the robot based on OpenGL was developed after analysis the structure of the FANUC robot. This method simulated the actual motion of the robot, and it laid a good foundation for validation the rationality and safety of the structure and mechanism design of the robot, and it also provided a reference for the three-dimensional motion simulation of other mechanisms.A parametric design system aimed at FANUC robot M series was developed. Three-dimensional robot model was set up automatically based on the inputting parameters of the robot structure. This method reduced the amount of data which user input and improved the design efficiency. Besides, it’s laid a good foundation for the series design and motion simulation of FANUC robot M series.Based on the three-dimensional motion simulation and parametric design, the structure ofthe robot arm was analyzed by means of using ANSYS finite element software, and the stress and elastic deformation cloud chart of the structure of the robot arm under different acceleration were obtain. In addition to, the influence of the deformation of the structure on the working precision of the robot under different acceleration was analyzed.更多还原