本文選題：機(jī)械臂　切入點(diǎn)：機(jī)械結(jié)構(gòu)設(shè)計(jì)　出處：《湖北工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著科學(xué)技術(shù)的進(jìn)步,機(jī)械手越來(lái)越多的應(yīng)用到工業(yè)生產(chǎn)中,發(fā)揮著越來(lái)越重要的作用。智能機(jī)器人技術(shù)的不斷發(fā)展和其在生產(chǎn)生活中的廣泛應(yīng)用,不斷地改善人民的日常生活,同時(shí)推動(dòng)了社會(huì)生產(chǎn)力的提高并不斷推動(dòng)著社會(huì)生產(chǎn)的進(jìn)步。開展機(jī)械手的相關(guān)研究具有重要的理論和現(xiàn)實(shí)意義。本文以三自由度關(guān)節(jié)式機(jī)械臂為研究對(duì)象,對(duì)其機(jī)械部分、運(yùn)動(dòng)學(xué)和控制部分進(jìn)行設(shè)計(jì)和分析,主要做了如下工作:(1)設(shè)計(jì)了三自由度關(guān)節(jié)式機(jī)械臂的機(jī)械結(jié)構(gòu),主要包括傳動(dòng)方案的設(shè)計(jì)和主要零部件的校核。采用連桿機(jī)構(gòu)實(shí)現(xiàn)大臂小臂的伸縮俯仰動(dòng)作,采用雙平行四邊形機(jī)構(gòu)保證末端執(zhí)行器的水平,以及大臂與小臂的運(yùn)動(dòng)獨(dú)立性。大臂小臂采用步進(jìn)電機(jī)加減速器驅(qū)動(dòng)連桿,機(jī)身直接與電機(jī)連接,實(shí)現(xiàn)旋轉(zhuǎn)運(yùn)動(dòng)。利用有限元對(duì)機(jī)械臂的主要機(jī)械部件進(jìn)行了受力分析和校核。(2)在笛卡爾坐標(biāo)系下采用D-H參數(shù)法對(duì)每個(gè)連桿建立坐標(biāo)系,根據(jù)兩個(gè)相鄰坐標(biāo)系之間相對(duì)位置,采用姿態(tài)的齊次坐標(biāo)變換對(duì)機(jī)械臂的運(yùn)動(dòng)軌跡進(jìn)行描述,并建立了機(jī)械臂運(yùn)行狀態(tài)的運(yùn)動(dòng)學(xué)方程,進(jìn)一步建立了機(jī)械臂的運(yùn)動(dòng)學(xué)模型,分析正運(yùn)動(dòng)學(xué)和逆運(yùn)動(dòng)學(xué),求解機(jī)械手的雅可比矩陣。介紹了逆解的兩種方法,代數(shù)法和幾何法,重點(diǎn)討論了基于三自由度三自由度關(guān)節(jié)式機(jī)械臂的幾何解法和算法。(3)詳細(xì)分析了機(jī)械臂的軌跡規(guī)劃。根據(jù)通過齊次坐標(biāo)變換建立的機(jī)械臂運(yùn)動(dòng)學(xué)方程和動(dòng)力學(xué)模型,對(duì)機(jī)械臂的關(guān)節(jié)空間及笛卡爾空間中機(jī)器臂運(yùn)動(dòng)方式和運(yùn)動(dòng)軌跡進(jìn)行研究,探討了機(jī)械臂在空間中的逐點(diǎn)比較法直線插補(bǔ),最后通過實(shí)驗(yàn)驗(yàn)證了基于插補(bǔ)軌跡控制算法的正確性。
[Abstract]:With the development of science and technology, more and more manipulators are used in industrial production, playing an increasingly important role.The continuous development of intelligent robot technology and its wide application in production and life constantly improve the daily life of the people, at the same time, promote the improvement of social productivity and the progress of social production.The research of manipulator has important theoretical and practical significance.In this paper, the mechanical part, kinematics and control part of the three-degree-of-freedom joint manipulator are designed and analyzed. The main work is as follows: 1) the mechanical structure of the three-degree-of-freedom joint manipulator is designed.It mainly includes the design of transmission scheme and the checking of main parts.The linkage mechanism is used to realize the telescopic pitching of the upper arm of the arm and the dual parallelogram mechanism is used to ensure the level of the end actuator and the kinematic independence of the arm and the forearm.The upper arm uses stepper motor and reducer to drive the connecting rod, and the fuselage is connected directly with the motor to realize rotational motion.The mechanical components of the manipulator are analyzed and checked by finite element method. In the Cartesian coordinate system, the D-H parameter method is used to establish the coordinate system for each connecting rod. According to the relative position between the two adjacent coordinate systems,The motion trajectory of the manipulator is described by the homogeneous coordinate transformation of the attitude, the kinematics equation of the manipulator is established, the kinematics model of the manipulator is further established, and the forward kinematics and inverse kinematics are analyzed.Solve Jacobian matrix of manipulator.In this paper, two methods of inverse solution, algebraic method and geometric method, are introduced, and the trajectory planning of the manipulator is analyzed in detail based on the geometric solution and algorithm of three-degree-of-freedom three-degree-of-freedom joint manipulator.According to the kinematics equation and dynamic model of manipulator established by homogeneous coordinate transformation, the motion mode and trajectory of robot arm in joint space and Cartesian space are studied.The linear interpolation of robot arm in space by point by point comparison method is discussed. Finally, the correctness of trajectory control algorithm based on interpolation is verified by experiments.
【學(xué)位授予單位】：湖北工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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