【作者】 郭鹏；

【导师】 唐倩；

【作者基本信息】 重庆大学 ， 机械工程（专业学位）， 2015， 硕士

【摘要】 喷涂机器人具有柔性大、喷涂质量和材料使用率高、易操作和维护、设备利用率高等特点,已广泛应用在汽车、建材、家电等领域。我国喷涂机器人研发存在结构可靠性差和定位精度低等问题,研制出的产品性能不稳定,结构部件使用寿命低,喷涂作业不达标,直接影响了喷涂机器人的应用与发展。因此,针对喷涂机器人存在的这些问题,本文以喷涂机器人关键部件机械臂为研究对象,运用有限元法、拓扑优化和摄动法,开展关键部件静力学分析,大臂轻量化设计,末端静态位姿误差分析的研究,验证了关键部件的强度和刚度,实现了大臂的轻量化设计,得到了角度参数误差是影响末端位姿误差的重要因素的结论,提高了结构的可靠性和定位精度,对喷涂机器人性能的提升起到了很好的促进作用。本文开展的主要工作如下:(1)喷涂机器人关键部件的静力学分析。基于有限元分析法,对喷涂机器人的关键部件进行静力学分析,建立了喷涂机器人的底座、腰部、大臂等关键部件的三维模型,使用ADAMS仿真分析,获得喷涂机械臂的最大力及扭矩参数;结合实际工况与ADAMS分析结果,建立基于ABAQUS仿真平台的喷涂机械臂静力学分析模型,对腰部、大臂等机械臂的关键部件进行了刚度及强度分析,结果表明结构满足设计要求。(2)机器人大臂轻量化设计方法研究。基于最优化理论,采用Opti Struct求解器,以大臂最小柔软度为优化目标,大臂的体积为约束条件,以划分出的优化区域为设计变量,建立了机器人大臂的优化数学模型,并对大臂进行轻量化设计。根据计算得到拓扑优化结构图,对大臂进行二次设计,并利用ABAQUS检验其刚度及其强度。结果表明,在满足大臂刚度和强度的条件下,优化后的机器人大臂质量减轻了6.26KG,优化效果显著。(3)喷涂机器人的末端静态位姿误差分析。分析了喷涂机器人末端误差产生的原因,建立了机器人运动学D-H模型。依据空间坐标变换原理和所建立的D-H模型创建了摄动法误差模型,运用MATLAB数学软件对位置误差和姿态误差进行了仿真分析。得到了各个因素对位置误差和姿态误差的影响曲线,并得出角度参数误差是影响末端位姿误差的主要因素,并且结构角参数误差影响更大,为喷涂机器人末端精度的提高提供了理论基础。更多还原

【Abstract】 Painting robot has been widely used in automobile, building materials, household appliances and other fields, with its characteristics of great flexibility, high spraying quality and material utilization, easy operation and high maintenance equipment utilization. China has also done a lot of exploration and research in the development of painting robots, but the performance of developed products is unstable, the life of structural parts is low, and the spraying operation is not standard, which has a direct impact on the development and application of painting robots. Thus, on account of these problems of painting robots, this paper carries out static analysis, lightweight design of large arm, research of analysis of the end static pose error using topology optimization, perturbation method and perturbation method for the object of robot manipulator, the key parts of painting robots, to verify the strength and stiffness of the key components, realize the lightweight design of the arm, draw a conclusion of the angle parameter error is an important factor affecting the end pose error, and to improves the reliability and accuracy of the structure. This paper is good for promoting the performance of lifting painting robots.The main work carried out as follows:(1)Statics analysis of the key components of the painting robot. Based on finite element analysis, this paper processes the static analysis of key parts of painting robot, establishes the 3D model of the key parts of painting robot’s base, waist and arm, and use ADAMS simulation to obtain the maximum force and torque parameters of spraying manipulator. According to the actual conditions and results of ADAMS analysis, this paper establishes the analysis model of ABAQUS simulation platform of robot manipulator based on statics, and analyzes the stiffness and strength of the key parts of the waist and arm of the robot manipulator. The analysis results meet the design requirements.(2)The lightweight design method of robot arm. This paper establishes the optimization mathematical model of the robot arm and designs the lightweight method of arm, basing on the optimization theory, using Opti Struct solver, for the target to minimize the soft of arm, on the constraint condition of arm volume, and using the regional division as design variables. According to the structure topology optimization calculation, we design the arm second time and use the ABAQUS to test its stiffness and strength. Results show that, on the condition of meeting the large arm stiffness and strength, the robot arm is optimized to reduce the quality of 6.26 KG. The optimization effect is obvious.(3)Analysis of terminal painting robot static posture error. We analyze the causes of the error at the end of the painting robot and establish the D-H model of robot kinematics. Basing on the space coordinate transformation principle and the D-H model, we create a perturbation error model to analyze the position error and posture error by the MATLAB mathematical software. We obtain the curve of the effect of the various factors on the position error and posture error, and draw a conclusion that the angle parameter error is the main factor affecting the terminal pose errors. This provides a theoretical basis for improving the accuracy of the terminal of painting robots.更多还原