【作者】 谭志飞；

【导师】 黄辉先；

【作者基本信息】 湘潭大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 “机器人智能控制系统的研究”对工业机器人进行智能控制，要求其能自动避障、自动规划路径、自动从任一地点搬运工件到目标地点，其涉及到的内容相当广泛。作为“机器人智能控制系统的研究”的一个子课题，本文以五自由度机械手为研究对象，主要研究了五自由度机械手的静力学、运动学建模与分析、机械手的路径规划以及机械手的运动学仿真问题。通过这些分析，可及时发现设计中的缺点和不足，并加以改进优化，避免因直接操作实体而可能造成的损失，对机器人的设计、制造、试验以及使用都具有非常重要的指导意义。首先在Pro/Engineer中完成五自由度机械手的建模和装配，对各零部件进行干涉检查，验证总体结构设计的正确性与合理性，为静力学、运动学分析与仿真提供正确的虚拟样机模型。其次，通过Pro/Engineer与ANSYS之间的接口将模型导入ANSYS中对机械手的静力学问题(强度、位移)进行分析，进一步验证了机械结构的合理性，并为运动学分析与仿真提供理论基础。紧接着分析五自由度机械手的运动学特性，建立了正、逆运动学方程。根据各关节的运动参数，求解机械手的位置和姿态；以及根据给定的相关位置和姿态参数，求解各关节的运动参数。然后，利用运动学方程的计算结果，对机械手进行路径规划。最后，利用MSC公司提供的Pro/Engineer与ADAMS的专用接口模块Mechanism/Pro，将Pro/Engineer中所建立的模型导入ADAMS中，进行必要的参数设置，然后进行运动学仿真，分析机器人系统的运动学性能。更多还原

【Abstract】 "The Research of the Robot Control Intelligently" controls the industrial robot intelligently, which requires to avoid barrier automatically, to layout path automatically, and to carry the work piece from any site to objective site automatically, the related contents are quite wide. As a sub-topic of "The Control and Research of the Intelligent Robot", according to the object of five freedom manipulator, the present text research the modeling and analyses of the five freedom manipulator’s statics and kinematics, and manipulator’s path planning, as well as manipulator’s kinematics simulation. By these analyses, the shortcoming and the insufficiency in the design can be detected on time, so improvement and optimization can be made, as a result the loss generated possibly because of directly operation to the entity can be avoided, and it has very important tutorial meanings to the robot’s design, manufacture, test.At first, in Pro/Engineer, the five freedom manipulator’s modeling and assembly can be completed, and the interference inspection to each part can be proceeded, as a result, the validity and rationality of the global structure design can be demonstrated, so it can supply a correct virtual prototype model to the analysis and simulation of the statics and kinetic. Next, through the interface between Pro/Engineer and ANSYS inducting the model to ANSYS, the analyses to the manipulator’s statics aspect (intensity, displacement) can be proceeded, further demonstrating the rationality of the mechanical structure, and providing the theoretical basis for the kinetic analysis and simulation. Next, the five freedom manipulator’s kinematics characteristic is analyzed, establishing the direct and the inverse kinematic equations. According to each joint motion parameter, the manipulator’s position and pose can be solved, as well as according to the specified relevant position and pose parameter, each joint motion parameter can be solved. And then, utilizing the result of the kinematic equation, the path planning to the manipulator can be proceeded. At last, utilizing the special interface between Pro/Engineer and ADAMS supplied from MSC corporation, proceeding the necessary parameter setting, then proceeding kinematics simulation, analyzing the robot’s systematic kinematics performance.更多还原