关节型机器人腰部结构设计—机械毕业设计论文说明书.docVIP

关节型机器人腰部结构设计摘要: 为了提高生产效率和产品的焊接质量满足实际工作需要本课题设计了用于焊接的关节型机器人。根据机器人的工作要求和结构特点，进行了机器人的总体设计，确定了机器人的外形尺寸和工作空间，拟定了机器人各关节的总体传动方案，对机器人腰关节结构进行了详细设计，合理布置了电机和齿轮，确定了各级传动参数，进行了齿轮、轴和轴承的设计计算和校核。利用齐次变换矩阵法建立了六自由度关节机器人的正运动学模型，求出机器人末端相对于各自参考坐标系的齐次坐标值，建立了在直角坐标空间内机器人末端执行器的位置和姿态与关节变量值的对应关系。基于几何投影原理推导出相应的逆运动学模型，求出了各个关节的角度值，建立了机器人关节空间与世界空间的映射关系。该机器人具有刚性好，位置精度高、运行平稳的特点。关键词：关节型机器人；位姿分析；总体设计；腰部结构设计 The waist structural design of articulated robotAbstract : In order to improve the efficiency of production and welding quality ofproducts and meet real works needs this subject has designed the articulated robotused for welding . According to the job requirements for the robot and structurecharacteristic I have carried on the overall design of the robot confirmed theexternal dimension and workspace of the robot drafted the overall transmissionscheme of every joint of the robot. I have designed the waist structure of therobot in detail assigned the electrical machinery and gear wheel rationallyconfirmed at all level transmission parameters carried on the design and calculatingof gear wheels shafts and bearings and checking them.The kinematic model of robotsystem has been built up by means of the homogenous transformation of matrix in thisthesis and deduces the robots homogenous coordinate which is relative to itsreference coordinate. We also make up the position relationship between the robotsend effector and the variable friable of every joint. The inverse kinematic model isdeduced which based on the projection principle of geometry and the value of angle isworked out. What’s more the relationship is built up between the joint space of robotand the world space. This robot has the characteristics of fine rigidity positionprecision high that operate steadily.Key words: Articulated robot Appearance analysis in the location Designoverallly Waist articulated structural design of the robot 目 录1 前言…………………………………………………………………………………11.1 题目来源及分析…………………………………………………………………11.2 研究目的…………………………………………………………………………