【作者】 林晓鹰；

【导师】 侯亮；

【作者基本信息】 厦门大学 ， 仪器仪表工程， 2007， 硕士

【摘要】 机器人在焊接、喷涂和装配等工业领域得到广泛应用,焊接机器人在汽车、摩托车等工业领域应用广泛,不仅能提高汽车、摩托车的尺寸精度、一致性及外观质量等,同时能使汽车、摩托车生产向小批量、多品种快速转换。同时随着制造活动和过程集成化要求,多机器人协同工作的应用系统作为一种新的基于先进生产技术的自动化生产模式逐渐受到关注。公理设计理论作为一种新的、有效的设计理论和方法为设计活动提供了理论依据,两条设计公理作为评判设计优劣的依据,给设计者提供了一种在设计初期建立自己设计思路的工具。公理设计把设计过程标准化为通用的设计框架,指导设计者进行正确设计决策,对缩短制造系统设计的前期时间、降低制造成本、提高产品质量和可靠性以及最有效地满足所需要的功能具有重要的意义。本文以公理设计为理论依据,应用公理设计理论设计框架,通过功能域和结构域之间的映射变换,完成摩托车车把自动装配与焊接系统的功能结构分解以及功能独立性和设计分解一致性的分析,得到系统的等级结构模型和各个子系统之间的相互影响关系。根据系统的功能需求与设计参数之间的映射关系得到完整的设计矩阵,分析叶设计参数之间的影响关系,确定系统的设计顺序以及设计流程,然后基于信息公理对系统方案进行优化。最后通过机器人轨迹规划和系统的计算机运动仿真验证系统设计的可行性和有效性。更多还原

【Abstract】 Robots are widely used in welding, spraying and assembling industrial fields and so on. Welding robots are applied broadly into automobile and motorcycle industry, which can improve the dimension accuracy, dimension consistency and appearance quality of the automobile/motorcycle, and realize the speedy transformation of small batch, more variety production. Furthermore, with the development of manufacturing activities and the requirement of process integration, more and more attentions are put into the application system of multi-robots cooperate working, which acts as a new automatic production pattern based on advanced manufacturing technology.As a new, effective design theory and approach, the Axiomatic Design theory provides the theory basis for the design activities, and it’s two design axioms are taken as evaluating gist of the design, which offer a tool for devisers to establish their own design idea at the beginning of design. The Axiomatic Design standardizes the design process as universal design framework, and instructs the devisers to making the right design decisions. The Axiomatic Design approach would be of great benefit for shorten the pre-period time of designing the manufacturing system, reduce the production cost, improve the product quality and reliability, and meet the demand of the functions most availably.In this paper, we use the Axiomatic Design theory as theoretical gist, to designing the framework of the automatic assembling welding system for motorcycle handlebar. By the mapping transformation between the function domain and structure domain, the analysis on the function structure disassembly, the function independence and the design disassembly consistency of the system are performed. The hiberarchy model of the system is presented, and then the interactional relationship between several sub-systems is gotten. According to the mapping relationship between the function requirement of the system and the design parameters, the integrate design matrix is gained. Moreover, the design order and design flow of the system is determined by analyzing the relationship between design parameters, and then the system scenario is optimized based on the information axiom. Finally, the computer simulation of the robots’locus layout and the system dynamics are made to testing the feasibility and validity of the system design.更多还原