六轴工业机器人设计与轨迹规划方法研究-机械电子工程专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 万方数据 万方数据 摘 要 随着工业自动化的发展，工业机器人得到了越来越广泛的应用，其中以 垂直关节型六自由度工业机器人为典型，大量应用在汽车制造业和电子装配 业这两个自动化水平较高的产业。为了普及工业机器人的应用，降低自动化 系统的集成成本，需要对工业机器人的结构设计方法，运动分析方法以及轨 迹规划方法等进行研究，以实现其生产产业化及应用规模化，从而提高工业 自动化水平。 本文以垂直关节型六轴工业机器人为研究对象，给出了一种典型的系统 传动方案，并建立了参数化基本模型和完成了主要部件的选型，最后建立了 六轴工业机器人的具体结构模型，为优化工业机器人的设计提供了基础。 建立了一般的垂直关节型六轴工业机器人的 DH 运动模型，并推导了一 般结构形式和坐标系下的运动学正、逆解方程，并分析了对于多组逆解的关 节属性选择方法。同时以牛顿欧拉动力学方程为基础，推导了工业机器人动 力学正、逆解方程。在 Matlab 环境下，基于 Robotic Toolbox 实现和完善了 运动分析程序，并对一般工业机器人的运动学和动力学计算方法进行了仿真 验证。 最后提出了运动学和动力学约束下的梯形速度轨迹的弧长参数化规划方 法。给出了匀加速轨迹规划方法和优化的变加速轨迹规划方法，并对两类轨 迹规划方法进行仿真验证，提高了工业机器人的运动效率。 关键词：六轴工业机器人；结构设计；运动分析；轨迹规划 I - Abstract With the development of industrial automation, industrial robots have been widely applied, of which the 6-dof articulated industrial robot is a typical application. A large number of this kind manipulators have been applied in the automotive manufacturing and electronics assembly industry. To popularize the application of industrial robots and reduce the automation systems integration costs, there is a need to study industrial robot design method, motion analysis and trajectory planning method, in order to achieve the massive production and applications of industrial robots, and thereby improving industrial automation. In this paper, a 6-dof articulated industrial robot was set as a typical example. A typical transmission scheme was given, and its basic parameterized model and component selection method were given. At last, the detail structure model was built to provide the basis for the optimal design. Then the general industrial robot motion model was established by the DH methods. And the general calculation method of the forward and inverse kinematic was formulated, and a unique solution was given by the joint attribute. The dynamics of the robots were solved based on the Newton-Euler dynamic equations, and both the forward and inverse dynamic solutions were given by this method. In the Matlab, the motion analysis programs were buil