焊接机器人腰部结构设计毕业设计.doc

6自由度焊接机器人结构设计 焊接机器人腰部结构设计毕业设计 PAGE II PAGE I 焊接机器人腰部结构设计 摘 要 工业机器人最大的应用领域是焊接机器人,它占工业机器人总数的25%左右。由于对许多构件的焊接精度和速度等提出越来越高的要求,一般工人已难以胜任这一工作;此外6自由度焊接机器人还可以减少焊接时的火花及烟雾等对人体造成危害,因而,本课题的提出就有十分重要的意义。 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；总体设计；腰部结构设计；6自由度。 The waist structural design of articulated robot ABSTRACT The largest industrial robot application is welding robot, which accounted for the total number of industrial robots about 25 percent. Because of the many components of welding precision and speed to the growing demands, the general competence of workers has been difficult this work; Moreover, the welding robot can also reduce the welding sparks and smoke caused harm to the human body and so, therefore, the subject The proposal has very great significance. In order to improve the efficiency of production and welding quality of products and meet real works needs, this subject has designed the articulated robot used for welding . According to the job requirements for the robot and structure characteristic , I have carried on the overall design of the robot, confirmed the external dimension and workspace of the robot, drafted the overall transmission scheme of every joint of the robot. I have designed the waist structure of the robot in detail, assigned the electrical machinery and gear wheel rationally, confirmed at all level transmission parameters , carried on the design and calculating of gear wheels , shafts and bearings and checking them.The kinematic model of robot system has been built up by means of the homogenous transformation of matrix in this thesis and deduces the robots homogenous coordinate which is relative to its reference coordinate. We also ma