【作者】 刘其峰；

【导师】 朱世强；

【作者基本信息】 浙江大学 ， 机械电子工程， 2007， 硕士

【摘要】 焊接机器人是提高生产效率、改善焊接质量的重要工具，而机器人操作臂的动力学性能直接影响机器人的应用水平。本论文研究了机器人动力学性能，进行了机器人动力学仿真，为弧焊机器人机构的改进、控制性能的提高奠定了理论基础。文章主要包括以下几方面内容：第一章，阐述焊接自动化及焊接机器人的现状，分析弧焊机器人的技术特点。对比常见的焊接机器人及其结构。第二章，讨论建立机器人动力学方程的各种方法和动力学仿真的不同平台，通过比较并结合实际情况选择了较为理想的方法和仿真平台。第三章，根据焊接机器人工作时实际需要的运动范围，参考目前应用较广泛的焊接机器人的结构，给出简单的机器人模型，对其进行静力学分析，得到各关节在极限位置下的力矩情况，以此为依据，对电机、减速器以及同步带进行选型，并初步设计机器人本体的机械结构。第四章，给出机器人的机构简化图及D-H参数表，推导出机器人的雅可比矩阵，建立基于拉格朗日方程的动力学方程，运用微分变换法对动力学方程进行简化，得到实用的弧焊机器人动力学模型，为其实现各关节的精确控制提供基础。第五章，建立了考虑约束和关节质量等效转换的机器人模型，分析了典型工况下的运动曲线，根据运动学逆解，得到各关节的运动情况。在此基础上进行动力学的仿真分析，得到各关节的受力情况，验证电机选型的合理性，对关键零件进行应力分析，完成了弧焊机器人的结构校核与优化。更多还原

【Abstract】 The dynamics capabilities of robot’s hand directly influence the structure design and the application of robot. This paper aims for perfect the structure design of the robot. The virtual model is accomplished and the dynamics equations are also listed in this paper. After that, it analyzes the dynamics capabilities of the robot and checks the safety of the main joint part. At last it gives some advice for the optimize design. This paper mainly includes the following parts:Chapter 2, it discusses the different ways to list the dynamics equations and the most usual way for the simulation of the robot dynamics. The final means are decided by comparing the different ways and the actual circumstances.Chapter 3, it builds the simplest model and finds the Centroid with the mass and obtains the largest torque of every joint when the robot is rested at the most dangerous position. The servo motor, the reducer and other transmission device are chose by the later analysis of the torque. It provides a base for designing the virtual model and the structure.Chapter 4, it depicts the frame of the robot structure. According to the Denavit-Hartenberg principle, the Jacobian matrix of the robot is deduced in this article. With the help of differential transform, the parameters in dynamics equations are simplified and the dynamics equations are obtained at last. It lays the foundations of the joint control.Chapter 5, it builds up the equivalent virtual model with the movement restriction. Then the virtual model moves in the curve that the robot usually works in the factory. It could reveal the dynamics force and the torque act on different joints after simulation. Then the Vonmises stress plot and acceleration curve could be obtained. It can be check out whether the structure have been designed proper. And it also give some advice for the optimize design.更多还原