毕业设计终极版-工业机器人三维设计与运动分析.docVIP

工业机器人三维设计与运动分析 摘 要 在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。 本论文作者在参考大量文献资料的基础上，结合设计要求，设计了一种小型的、固定在AGV 上以实现移动的六自由度串联机器人。首先，针对机器人的设计要求提出了多个方案，对其进行分析比较，选择其中最优的方案进行了结构设计；同时进行了运动学分析，用D-H 方法建立了坐标变换矩阵，写出运动学方程。这些工作为移动式机器人的结构设计、动力学分析和运动控制提供了依据。 最后用ADAMS 软件进行了机器人手臂的运动学仿真，并对其结果进行了分析，对在机械设计中使用虚拟样机技术做了尝试，积累了经验。 关键词：机器人；运动学分析；工作空间分析；虚拟样机技术 Industrial Robot Of 3D Modeling And Analysis Of The Movement ABSTRACT In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way. Based on larger number of relative literatures and combined with the need of project, the author have designed a kind of small-size serial robot with 6 degree of freedom which can be fixed on the AGV to construct a mobile robot.Write the kinematics equation，These works provided a basis to the structure design , kinematics analyse and control. At last, the robot arm’s kinematics was simulated by using software ADAMS, and the simulation result was analyzed. In the experiment, the author tried to use the virtual prototyping technology in mechanism design. keywords: Robot; Kinematics Analysis; Working Space Analysis;Virtual Prototyping Technology目 录 引 言 - 1 - 第1章 绪论 - 2 - 1.1 机器人概述 - 2 - 1.2 机器人的历史、现状 - 2 - 1.3机器人发展趋势 - 4 - 1.4 研究课题的提出 - 4 - 1.5本论文研究的主要内容 -