本文選題：機械臂　切入點：機械結構設計　出處：《湖北工業(yè)大學》2017年碩士論文

【摘要】：隨著科學技術的進步,機械手越來越多的應用到工業(yè)生產(chǎn)中,發(fā)揮著越來越重要的作用。智能機器人技術的不斷發(fā)展和其在生產(chǎn)生活中的廣泛應用,不斷地改善人民的日常生活,同時推動了社會生產(chǎn)力的提高并不斷推動著社會生產(chǎn)的進步。開展機械手的相關研究具有重要的理論和現(xiàn)實意義。本文以三自由度關節(jié)式機械臂為研究對象,對其機械部分、運動學和控制部分進行設計和分析,主要做了如下工作:(1)設計了三自由度關節(jié)式機械臂的機械結構,主要包括傳動方案的設計和主要零部件的校核。采用連桿機構實現(xiàn)大臂小臂的伸縮俯仰動作,采用雙平行四邊形機構保證末端執(zhí)行器的水平,以及大臂與小臂的運動獨立性。大臂小臂采用步進電機加減速器驅動連桿,機身直接與電機連接,實現(xiàn)旋轉運動。利用有限元對機械臂的主要機械部件進行了受力分析和校核。(2)在笛卡爾坐標系下采用D-H參數(shù)法對每個連桿建立坐標系,根據(jù)兩個相鄰坐標系之間相對位置,采用姿態(tài)的齊次坐標變換對機械臂的運動軌跡進行描述,并建立了機械臂運行狀態(tài)的運動學方程,進一步建立了機械臂的運動學模型,分析正運動學和逆運動學,求解機械手的雅可比矩陣。介紹了逆解的兩種方法,代數(shù)法和幾何法,重點討論了基于三自由度三自由度關節(jié)式機械臂的幾何解法和算法。(3)詳細分析了機械臂的軌跡規(guī)劃。根據(jù)通過齊次坐標變換建立的機械臂運動學方程和動力學模型,對機械臂的關節(jié)空間及笛卡爾空間中機器臂運動方式和運動軌跡進行研究,探討了機械臂在空間中的逐點比較法直線插補,最后通過實驗驗證了基于插補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.
【學位授予單位】：湖北工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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