打磨机器人开发全过程分析与研究
|
摘要
本课题是以东北大学与某工厂的实际合作项目为背景进行的,此项目为“打磨机器人”的开发。机器人是一种典型的机电一体化设备,集运动学与动力学理论、机械设计与制造技术、计算机硬软件技术、控制理论、传感器技术、人工智能理论等科学及技术于一体,所以机器人的开发过程是一个复杂的系统工程,往往会需要多种学科的专业人员和多个部门的协同工作,为了以最低的成本在规定的工期内完成高质量产品,对整个机器人开发全过程的研究是必要的。并且,通过分析研究这个产品开发的全过程,能够给其它一些高新技术产品开发的顺利进行提供参考。
本文在分析当前国际和国内产品开发过程研究状况的基础上,结合机器人开发的独有特性,对打磨机器人的开发过程进行建模,分析了打磨机器人开发过程。详细地对市场需求进行了分析与研究,把市场需求分为直接市场需求、潜在市场需求,在此基础上,分析了潜在市场需求和关键技术之间的关系,得出潜在市场推动关键技术提升等结论。进行了工艺制定和生产制造方面的分析,并针对外协制造提出了“分散加工,集中装配”方法。然后重点对打磨机器人进行了功能设计与分析,提出“关键技术和试验贯穿整个产品开发过程”、“关键技术决定产品广义质量”等理念。并针对打磨机器人机械手臂进行了性能设计分析,提出一些在设计方法方面的思想。最后,通过打磨机器人开发过程的综合分析,得出类似产品开发过程的一般规律,并给出了在产品开发过程中的一些关键点。
The thesis roots in the cooperative project, which name is Development of Polishing Robot, with a Arsenal. As a synthesis system, robot is composed of kinematics and dynamics theory, machine design and manufacture, computer hardware and software, control theory, sensor technology, artificial intelligence and so on. The process of developing a new robot product is a complicated systems engineering, where cooperation of professional in different subjects and different departments is needed. It's imperative to research the total process of product development in order to provide references for other high-tech products' development.
Considered the speciality of robots'exploiture, the model of the polishing robot's develping process is established based on the analysis of recent robot development in our country and abroad. The whole process of the polishing robot's exploiture is deeply studied based on this model. Classify market demands into direct market demands and potential market demands by analysis of market demands. Analyse the relationship of potential market demands and key technique and get the conclusion that potential market demands make key technique developing. Analyse the aspect of craftwork and manufacturing and propose a method of dispersedly machining and concentrated assembling according to partly manufacturing outside. Then main point is function design and analysis of polishing robot. Bring up some conceptions such as that key technique and experiment is always in process of products exploiture and key technique controls the quality of products. Design and analyse the polishing robot arm and propose some new methods of mechanical design. Find normal rule of process of similar products by analysis of exploiture process of polishing robot and some key points in process of exploiture of products.
本文在分析当前国际和国内产品开发过程研究状况的基础上,结合机器人开发的独有特性,对打磨机器人的开发过程进行建模,分析了打磨机器人开发过程。详细地对市场需求进行了分析与研究,把市场需求分为直接市场需求、潜在市场需求,在此基础上,分析了潜在市场需求和关键技术之间的关系,得出潜在市场推动关键技术提升等结论。进行了工艺制定和生产制造方面的分析,并针对外协制造提出了“分散加工,集中装配”方法。然后重点对打磨机器人进行了功能设计与分析,提出“关键技术和试验贯穿整个产品开发过程”、“关键技术决定产品广义质量”等理念。并针对打磨机器人机械手臂进行了性能设计分析,提出一些在设计方法方面的思想。最后,通过打磨机器人开发过程的综合分析,得出类似产品开发过程的一般规律,并给出了在产品开发过程中的一些关键点。
The thesis roots in the cooperative project, which name is Development of Polishing Robot, with a Arsenal. As a synthesis system, robot is composed of kinematics and dynamics theory, machine design and manufacture, computer hardware and software, control theory, sensor technology, artificial intelligence and so on. The process of developing a new robot product is a complicated systems engineering, where cooperation of professional in different subjects and different departments is needed. It's imperative to research the total process of product development in order to provide references for other high-tech products' development.
Considered the speciality of robots'exploiture, the model of the polishing robot's develping process is established based on the analysis of recent robot development in our country and abroad. The whole process of the polishing robot's exploiture is deeply studied based on this model. Classify market demands into direct market demands and potential market demands by analysis of market demands. Analyse the relationship of potential market demands and key technique and get the conclusion that potential market demands make key technique developing. Analyse the aspect of craftwork and manufacturing and propose a method of dispersedly machining and concentrated assembling according to partly manufacturing outside. Then main point is function design and analysis of polishing robot. Bring up some conceptions such as that key technique and experiment is always in process of products exploiture and key technique controls the quality of products. Design and analyse the polishing robot arm and propose some new methods of mechanical design. Find normal rule of process of similar products by analysis of exploiture process of polishing robot and some key points in process of exploiture of products.
引文
1.闻邦椿,张国忠,柳洪义.面向产品广义质量的综合设计理论与方法[M],北京：科学出版社,2007
2.刘杰,宋伟刚,李允公.机电一体化技术导论[M],北京：科学出版社,2006
3.柳洪义,宋伟刚.机器人技术基础[M],北京：冶金工业出版社,2002
4. Harold kerzner. Project Management:A Systems Approach to Planning, Scheduling, and controlling [M], John Wiley & sons,inc.,2001
5.陈以增.基于智能质量功能展开的产品开发关键技术及应用的研究[D], 沈阳：东北大学博十学位论文,2003
6.温诗铸.我国摩擦学研究的现状与发展[J],机械工程学报,2004,40(11)
7.赵新军.技术创新理论(TRIZ)及应用[M],北京：化学工业出版社,2004
8. Suh N P, Bell A C, Cossard D C. On an axiomatic approach. to manufacturing and manufacturing system. Journal of Engingeering for Industry,1978,100 (5):127-130
9. Pahl G, Beitz W. Engineering design:asystematic approach. london:the Design Council,1998
10. Akao Y, Ono S, Harada A, et al. Quality deployment including cost, reliability and technology[J], Quality,1983,13(3):61-67
11. Hauser J R,Clausing D. The house of quality[J], Harvard Business Review,1988,66(3):63-73
12. Sullivan L P. Quality function deployment[J], Quality Progress,1986,19(6):39-50
13. Kogure M, Akao Y.Quality Function deployment and CWQC in Japan[J], Quality Progress,1983,16(10):25-29
14. Prasad B. Review of QFD and related deployment tecniques[J], Journal of Manufacturing Systems,1998,17(3):221-234
15. King B. Listening to the voice of the customer:using the quality function deployment system[J],1987, 6 (3):277-281
16. Akao Y. Quality Function deployment:integrating customer requirements into product design[M], cambridge:Productivity Press,1990
17 Kanjur A, Krishnamarty S. A robust multi-criteria optimization approach[J], Mech Mach Theory,1997,32 (7):799-810
18.陈以增,任朝晖,唐家福,等.基于QFD的多目标规划模型[J],东北大学学报,2003,24(1)
19.徐心和.机器人原理与应用[M],东北大学音像出版社,2004
20.徐元昌.工业机器人[M],北京,中国轻工业出版社,1999
21.段进,倪栋,王国业ANSYS 10.0结构分析从入门到精通[M],北京：兵器工业出版社,北京科海电子出版社,2006
22.李裕春,时党勇.ANSYS 10.0/LS-DYNA基础理论与工程实践[M],中国水利水电出版社,2006
23.王富耻,张朝晖.ANSYS 10.0有限元分析理论与工程应用[M],电子工业出版社,2006
24.陈恳,杨向东.机器人技术与应用[M],清华大学出版社,2006
25.丁学添.机器人控制研究[M],浙江大学出版社,2006
26.易泓可.电气控制系统设计基础与范例[M],机械工业出版社,2006
27.潘雪增.并行工程原理及应用[M],北京：清华大学出版社,1997.
28.孙耀明.微型计算机在机器人技术中的应用[M],北京：科学技术文献出版社,1987
29.张国忠.现代设计方法在汽车设计中的应用[M],沈阳：东北大学出版社,2002
30.孟明辰,韩向利.并行设计[M],北京：机械工业出版社,2005.
31.周仲凡.产品生命周期设计指南[M],北京：中国环境科学出版社,2005.
32. G Cassanelli, G Mura, Failure Analysis-assisted FMEA[J], Microelectronics and Reliability,2006,46 (9):1795-1799.
33.车庆军.推动失效模式和效果分析(FMEA)工作程序化[J],航空科学技术,2006,04,31-34.
34.李红兵.湖南电信数据通信项目管理之FMEA策略研究[D],长沙：湖南大学,2005.
35.唐晓芬.六西格玛核心教程[M],中国标准出版社,2002.
36.余俊.现代设计方法及应用[M],北京：中国标准出版社,1999.
37.刘复光.绿色设计[M],北京：机械工业出版社,2002
38.孙志礼,何雪宏,何韶君.机械设计[M],北京：冶金工业出版社,1997
39.邹慧君.机械系统设计原理[M],北京：科学出版社,2004
40.郭庆鼎,王成元.交流伺服系统[M],北京：机械工业出版社,1994.
41.王健.现代交流伺服系统技术和市场发展综述[J],Servo Control,2007.01：16-21.
42.哈尔滨工业大学理论力学教研组.理论力学下册[M],北京：高等教育出版社,1997.
43.秦忆.现代交流伺服系统[M],武汉：华中理工大学出版社,1995.
44.李志民,张遇杰.同步电机调速系统[M],机械工业出版社,1995.
45.王家军,齐冬莲.运动控制系统的发展与展望[J],电气时代,2004,10：54-56.
46.李永东,张猛.高性能交流永磁同步电机伺服系统现状[J],Servo Control,2008.03：34-37.
2.刘杰,宋伟刚,李允公.机电一体化技术导论[M],北京：科学出版社,2006
3.柳洪义,宋伟刚.机器人技术基础[M],北京：冶金工业出版社,2002
4. Harold kerzner. Project Management:A Systems Approach to Planning, Scheduling, and controlling [M], John Wiley & sons,inc.,2001
5.陈以增.基于智能质量功能展开的产品开发关键技术及应用的研究[D], 沈阳：东北大学博十学位论文,2003
6.温诗铸.我国摩擦学研究的现状与发展[J],机械工程学报,2004,40(11)
7.赵新军.技术创新理论(TRIZ)及应用[M],北京：化学工业出版社,2004
8. Suh N P, Bell A C, Cossard D C. On an axiomatic approach. to manufacturing and manufacturing system. Journal of Engingeering for Industry,1978,100 (5):127-130
9. Pahl G, Beitz W. Engineering design:asystematic approach. london:the Design Council,1998
10. Akao Y, Ono S, Harada A, et al. Quality deployment including cost, reliability and technology[J], Quality,1983,13(3):61-67
11. Hauser J R,Clausing D. The house of quality[J], Harvard Business Review,1988,66(3):63-73
12. Sullivan L P. Quality function deployment[J], Quality Progress,1986,19(6):39-50
13. Kogure M, Akao Y.Quality Function deployment and CWQC in Japan[J], Quality Progress,1983,16(10):25-29
14. Prasad B. Review of QFD and related deployment tecniques[J], Journal of Manufacturing Systems,1998,17(3):221-234
15. King B. Listening to the voice of the customer:using the quality function deployment system[J],1987, 6 (3):277-281
16. Akao Y. Quality Function deployment:integrating customer requirements into product design[M], cambridge:Productivity Press,1990
17 Kanjur A, Krishnamarty S. A robust multi-criteria optimization approach[J], Mech Mach Theory,1997,32 (7):799-810
18.陈以增,任朝晖,唐家福,等.基于QFD的多目标规划模型[J],东北大学学报,2003,24(1)
19.徐心和.机器人原理与应用[M],东北大学音像出版社,2004
20.徐元昌.工业机器人[M],北京,中国轻工业出版社,1999
21.段进,倪栋,王国业ANSYS 10.0结构分析从入门到精通[M],北京：兵器工业出版社,北京科海电子出版社,2006
22.李裕春,时党勇.ANSYS 10.0/LS-DYNA基础理论与工程实践[M],中国水利水电出版社,2006
23.王富耻,张朝晖.ANSYS 10.0有限元分析理论与工程应用[M],电子工业出版社,2006
24.陈恳,杨向东.机器人技术与应用[M],清华大学出版社,2006
25.丁学添.机器人控制研究[M],浙江大学出版社,2006
26.易泓可.电气控制系统设计基础与范例[M],机械工业出版社,2006
27.潘雪增.并行工程原理及应用[M],北京：清华大学出版社,1997.
28.孙耀明.微型计算机在机器人技术中的应用[M],北京：科学技术文献出版社,1987
29.张国忠.现代设计方法在汽车设计中的应用[M],沈阳：东北大学出版社,2002
30.孟明辰,韩向利.并行设计[M],北京：机械工业出版社,2005.
31.周仲凡.产品生命周期设计指南[M],北京：中国环境科学出版社,2005.
32. G Cassanelli, G Mura, Failure Analysis-assisted FMEA[J], Microelectronics and Reliability,2006,46 (9):1795-1799.
33.车庆军.推动失效模式和效果分析(FMEA)工作程序化[J],航空科学技术,2006,04,31-34.
34.李红兵.湖南电信数据通信项目管理之FMEA策略研究[D],长沙：湖南大学,2005.
35.唐晓芬.六西格玛核心教程[M],中国标准出版社,2002.
36.余俊.现代设计方法及应用[M],北京：中国标准出版社,1999.
37.刘复光.绿色设计[M],北京：机械工业出版社,2002
38.孙志礼,何雪宏,何韶君.机械设计[M],北京：冶金工业出版社,1997
39.邹慧君.机械系统设计原理[M],北京：科学出版社,2004
40.郭庆鼎,王成元.交流伺服系统[M],北京：机械工业出版社,1994.
41.王健.现代交流伺服系统技术和市场发展综述[J],Servo Control,2007.01：16-21.
42.哈尔滨工业大学理论力学教研组.理论力学下册[M],北京：高等教育出版社,1997.
43.秦忆.现代交流伺服系统[M],武汉：华中理工大学出版社,1995.
44.李志民,张遇杰.同步电机调速系统[M],机械工业出版社,1995.
45.王家军,齐冬莲.运动控制系统的发展与展望[J],电气时代,2004,10：54-56.
46.李永东,张猛.高性能交流永磁同步电机伺服系统现状[J],Servo Control,2008.03：34-37.