具有柔顺手腕的四自由度装配机器人的设计与研究
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摘要
装配是产品生产的后续工序,在现代化加工和制造业中占有重要地位。机器人自动化装配作业是现代化生产的必然趋势,而且随着社会的发展,自动化装配将逐渐取代人工装配,发挥越来越重要的作用。
本文设计了一款具有柔顺手腕的四自由度装配机器人,该机器人具有工作空间大、控制简单、额定负载大、精度适应性强等特点,在装配、物料搬运等方面具有良好的应用前景。本文主要工作如下:
首先,分析了平行放大机构的特点并确定了各杆件尺寸;根据设计指标,以平行放大机构为主体结构,对机器人本体结构进行了合理详细的设计。
其次,分析并导出了机器人正运动学方程以及运动学逆解,为以后的控制以及轨迹规划奠定了基础;建立了装配机器人的虚拟样机,并利用ADAMS软件,对装配机器人进行了动力学仿真。
再者,对平行放大机构的机构误差进行了分析,并讨论了不同杆件制造误差对末端位置精度的影响;同时还分析了杆件柔性对末端位置精度的影响,为全面衡量所设计机器人的精度指标提供了参考。
最后,分析了层叠型弹性杆柔顺手腕(RCC)的工作原理,给出了刚度矩阵和RCC主要性能参数的计算表达式,得出了手腕的结构参数和性能参数,并设计了RCC手腕的结构;为了弥补理论分析中存在过多假设的不足,文中利用ANSYS非线性有限元方法对手腕进行了仿真,验证了所设计柔顺手腕的合理性。
Assembly is one of the last processes of production, and it plays an important role in the modern processing and manufacturing industries. As time goes on, robot automatic assembly will inevitably take the place of manual assembly, rising to a key position in various application fields.
This paper focuses on a 4-DOF assembly robot with flexible wrist. With large working space, it has an ability of heavy load and strong precise adaptability. Moreover, it can be easily controlled, making it have a vast prospect in assembly, material handling and so on. Based on this robot, some research work is carried out in this paper.
Firstly, a parallel magnify mechanism is analyzed, and dimensions of the links are determined. Base on the parallel magnify mechanism, the mechanical structure of the robot is carefully and properly designed.
Secondly, the kinemics and dynamics of the robot are both analyzed, giving a solid foundation for the following path planning and controlling. Also, a virtual prototyping is built through Pro/E and ADAMS to simulate the robot in a nearly reality situation.
Thirdly, error of the parallel mechanism is analyzed. Then position error of the manipulator caused by tolerance of the links is discussed. Modal neutral files are generated to precisely evaluate the performance of the parallel magnify mechanism considering the flexible of the links. Moreover, the accuracy of the encoder as well as the transfer accuracy is discussed. The totally accuracy of the assembly robot is given according to the analysis above.
At last, the principle of the RCC wrist is expatiated. Then the stiffness matrix and formulas calculating the parameters of the wrist are both proposed. In order to minimize the affects of the assumptions used in the formulas, a simulation using ANSYS’nonlinear method is done for the RCC wrist. Deformation result proves the correctness of the design.
本文设计了一款具有柔顺手腕的四自由度装配机器人,该机器人具有工作空间大、控制简单、额定负载大、精度适应性强等特点,在装配、物料搬运等方面具有良好的应用前景。本文主要工作如下:
首先,分析了平行放大机构的特点并确定了各杆件尺寸;根据设计指标,以平行放大机构为主体结构,对机器人本体结构进行了合理详细的设计。
其次,分析并导出了机器人正运动学方程以及运动学逆解,为以后的控制以及轨迹规划奠定了基础;建立了装配机器人的虚拟样机,并利用ADAMS软件,对装配机器人进行了动力学仿真。
再者,对平行放大机构的机构误差进行了分析,并讨论了不同杆件制造误差对末端位置精度的影响;同时还分析了杆件柔性对末端位置精度的影响,为全面衡量所设计机器人的精度指标提供了参考。
最后,分析了层叠型弹性杆柔顺手腕(RCC)的工作原理,给出了刚度矩阵和RCC主要性能参数的计算表达式,得出了手腕的结构参数和性能参数,并设计了RCC手腕的结构;为了弥补理论分析中存在过多假设的不足,文中利用ANSYS非线性有限元方法对手腕进行了仿真,验证了所设计柔顺手腕的合理性。
Assembly is one of the last processes of production, and it plays an important role in the modern processing and manufacturing industries. As time goes on, robot automatic assembly will inevitably take the place of manual assembly, rising to a key position in various application fields.
This paper focuses on a 4-DOF assembly robot with flexible wrist. With large working space, it has an ability of heavy load and strong precise adaptability. Moreover, it can be easily controlled, making it have a vast prospect in assembly, material handling and so on. Based on this robot, some research work is carried out in this paper.
Firstly, a parallel magnify mechanism is analyzed, and dimensions of the links are determined. Base on the parallel magnify mechanism, the mechanical structure of the robot is carefully and properly designed.
Secondly, the kinemics and dynamics of the robot are both analyzed, giving a solid foundation for the following path planning and controlling. Also, a virtual prototyping is built through Pro/E and ADAMS to simulate the robot in a nearly reality situation.
Thirdly, error of the parallel mechanism is analyzed. Then position error of the manipulator caused by tolerance of the links is discussed. Modal neutral files are generated to precisely evaluate the performance of the parallel magnify mechanism considering the flexible of the links. Moreover, the accuracy of the encoder as well as the transfer accuracy is discussed. The totally accuracy of the assembly robot is given according to the analysis above.
At last, the principle of the RCC wrist is expatiated. Then the stiffness matrix and formulas calculating the parameters of the wrist are both proposed. In order to minimize the affects of the assumptions used in the formulas, a simulation using ANSYS’nonlinear method is done for the RCC wrist. Deformation result proves the correctness of the design.
引文
1 NevinsJL, WhitneyDE. Assembly research [J]. Automatic. 1980(16):595~613
2 RebmaJ, MillerLR. Some insertion compliance option. Proceeding Autofact West. 1981(2): 15~21
3查英,刘铁根,杜东.图像识别技术在零件装配自动识别中的应用.计算机工程. 2006, (32)10: 178~179
4谢存禧,张铁.机器人技术及其应用.机械工业出版社, 2005: 157~158
5谭伟,梁庆华,赵锡芳.精密?号装配机器人伺服定位系统及伺服控制研究.机械设计与研究. 2000(2): 58~58
6 1999年韩国工业机器人数据.机器人技术与应用. 2001(2): 46
7日本工业机器人发展概况.机器人技术与应用. 2001(3): 28
8姚志良.装配机器人及其发展动向.组合机床与自动化加工技术. 1995(10): 40~42
9 Adept直角机器人介绍: http://www.dexinquan.com/tt.asp?id=79
10 YK-X SERIES. YAMAHA SCARA ROBOTS
11 FUJI机械手产品介绍: http://shfujiyusoki.com/index.htm
12郭洪红.工业机器人技术.西安电子科技大学出版社, 2006: 42~43
13 Larry L. Howell.Compliant Mechanisms.余跃庆.高等教育出版社, 2007: 3~4
14胡建元,张克宁.机器人主动柔顺手腕位姿检测系统.浏控技术. l994, 13(2): 41~43
15 Requsicha. A. A. G., Stephen C. C. Representation of Geometric Features, Tolerances and Attributes in Solid Modelers Based on constructive Geometry. IEEE Journal of Robotics ans Automation. 1986, 2(3)
16彭商贤,金佐中,杜松年.被动柔顺手腕RCC工作机理及设计的研究.高技术通讯. 1994(9): 4~7
17 Whitney DE, Nevins JL. What is the RCC and what can it do, 9th ISIR. Washington, D.C., 1979:135~152
18杜松年,彭商贤,金佐中.层叠型弹性杆RCC柔顺手腕设计计算.天津大学学报. 1995, 28(1): 19~25
19王显衔.层压型高弹材料及在机器人装配中的应用.南京航空航天大学学报. 1996, 28(2): 235~236
20周伯英.工业机器人设计.机械工业出版社, 1995: 53~54
21李文有.机器人手臂连杆放大机构的设计与分析.机械与电子. 1995(4): 28~30
22 General Catalog of HarmonicDrive:126~128
23付永领,张桂英,李军.一种简化的机器人运动学分析方法及其仿真研究付.机床与液压.2004, 11: 70~72
24王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践.西北工业大学出版社, 2002: 1~5
25杜中华,王兴贵,狄长春.用PRO/E和ADAMS联合建立复杂机械系统的仿真模型.机械.2002, 29(增刊): 153~154
26刘义翔,李瑞峰,李东婉.应用ADAMS软件对点焊机器人大臂机构进行动力学仿真分析.哈尔滨商业大学学报. 2001, 17(3): 63~65
27 SprengerB.Design of a high speed and high precision 3DOF linear directdrives. Proceedings of the IEEE/ASME Intertional Conference on Advanced Mechatronics.1997: 63
28 GongC,YuanJ,NiJ.Nongeom etric error identification and compensation for robotic system by inverse calibration[J]. International Journal of Machine Tools and Manufacture. 2000, 40(14): 2119~2137
29 Sadler, J. P., etal,“A Lumped Parameter Approach to Vibration and Stress Anslysis of Elastic Linkages”, Trans. ASME J. Engng Ind. 1973, 95(B):549~557
30 Cleghorn, W. L. et al,“Finite Elemet Analysis of High-speed Flexible Mechanisms,”Mech. Mach Theory. 1981, 16(4):407~424
31 Winfrey, R. C.,“Elastic Link Mechanism Dynamics,”Trans. ASME J. Engng Ind. 1971, 93(B):268~272
32 Erdman, A. G., et al,“A General Method for Kineto-Elastodynamic Analysis of Mechanisms,”Trans. ASME J. Engng Ind. 1972, 94(B):1193~1205
33石则昌,刘深厚.机构精确度.高等教育出版社, 1995: 83~86
34 ADAMS/FLEX User’s Manual. Mechanical DynamicsInc. 2000
35赵希芳. ADAMS中的柔性体分析研究.电子机械工程. 2006, 22(3): 62~64
36赵福良,郭小勤,刘秋生.新型可变的柔顺手腕.高技术通讯, 1995(12)
37 Whitney DE, Rourke. Mechanical Behavior and Design Equations for Elastomer Shear Pad Remote Center Compliances. J. Dyn. Syst. Meas. Control. Trans. ASME, 1986: 108~223
38杜松年,彭商贤,金佐中. RCC手腕层叠弹性杆理论分析及性能实验.天津大学学报. 1994, 27(4): 385~390
39成大先.机械设计手册(弹簧?起重运输件?五金件).化学工业出版社. 2004: 156~157
40 Boyce M C, Arruda E M. Constitutive models of rubber elasticity: A review[J]. Rubber Chemistry and Technology. 2000, 73(3): 504~523
41 ANSYS公司. ANSYS中文手册. ANSYS中国公司. 1998
42 Treloar LRC. The elasticity of a network of longchain molecules(Ⅲ)[J]. Transactions of the Faraday Society. 1946, 42(1): 83~93
43 Horgan C O, Saccomandi G. Finite thermoelasticity with limiting chain extensibility[J]. Mechanics of Time-dependment Materials.1998(1): 127-146
44 CharltonDJ, YangJ. A review of methods to characterize rubber elastic behavior for use in finite element analysis[J]. Rubber Chemical and Technology. 1994, 67(3): 481~503
45 Farhad Tabaddor. Elastic stability of rubber products[J]. Rubber Chemical and Technology. 1987, 60(5): 957~965
46 Gent A N. Engineer with rubber-How to Design Rubber Components[M]. 2000: 259~275
47 Grama R. Bhashyam, Ansys Mechanical-A PowerfulNonlinear Simulation tool. Ansys Mechanics & simulation Support Group. 2002(9)
48宋美江.复合型柔性腕的开发设计及产品化研究.天津大学硕士学位论文. 2004(1): 29~33
49 Kutt Miller, Testing Elastomers for Hyperelastic Material Modelings in Finite Element Analysis. 2000(7)
2 RebmaJ, MillerLR. Some insertion compliance option. Proceeding Autofact West. 1981(2): 15~21
3查英,刘铁根,杜东.图像识别技术在零件装配自动识别中的应用.计算机工程. 2006, (32)10: 178~179
4谢存禧,张铁.机器人技术及其应用.机械工业出版社, 2005: 157~158
5谭伟,梁庆华,赵锡芳.精密?号装配机器人伺服定位系统及伺服控制研究.机械设计与研究. 2000(2): 58~58
6 1999年韩国工业机器人数据.机器人技术与应用. 2001(2): 46
7日本工业机器人发展概况.机器人技术与应用. 2001(3): 28
8姚志良.装配机器人及其发展动向.组合机床与自动化加工技术. 1995(10): 40~42
9 Adept直角机器人介绍: http://www.dexinquan.com/tt.asp?id=79
10 YK-X SERIES. YAMAHA SCARA ROBOTS
11 FUJI机械手产品介绍: http://shfujiyusoki.com/index.htm
12郭洪红.工业机器人技术.西安电子科技大学出版社, 2006: 42~43
13 Larry L. Howell.Compliant Mechanisms.余跃庆.高等教育出版社, 2007: 3~4
14胡建元,张克宁.机器人主动柔顺手腕位姿检测系统.浏控技术. l994, 13(2): 41~43
15 Requsicha. A. A. G., Stephen C. C. Representation of Geometric Features, Tolerances and Attributes in Solid Modelers Based on constructive Geometry. IEEE Journal of Robotics ans Automation. 1986, 2(3)
16彭商贤,金佐中,杜松年.被动柔顺手腕RCC工作机理及设计的研究.高技术通讯. 1994(9): 4~7
17 Whitney DE, Nevins JL. What is the RCC and what can it do, 9th ISIR. Washington, D.C., 1979:135~152
18杜松年,彭商贤,金佐中.层叠型弹性杆RCC柔顺手腕设计计算.天津大学学报. 1995, 28(1): 19~25
19王显衔.层压型高弹材料及在机器人装配中的应用.南京航空航天大学学报. 1996, 28(2): 235~236
20周伯英.工业机器人设计.机械工业出版社, 1995: 53~54
21李文有.机器人手臂连杆放大机构的设计与分析.机械与电子. 1995(4): 28~30
22 General Catalog of HarmonicDrive:126~128
23付永领,张桂英,李军.一种简化的机器人运动学分析方法及其仿真研究付.机床与液压.2004, 11: 70~72
24王国强,张进平,马若丁.虚拟样机技术及其在ADAMS上的实践.西北工业大学出版社, 2002: 1~5
25杜中华,王兴贵,狄长春.用PRO/E和ADAMS联合建立复杂机械系统的仿真模型.机械.2002, 29(增刊): 153~154
26刘义翔,李瑞峰,李东婉.应用ADAMS软件对点焊机器人大臂机构进行动力学仿真分析.哈尔滨商业大学学报. 2001, 17(3): 63~65
27 SprengerB.Design of a high speed and high precision 3DOF linear directdrives. Proceedings of the IEEE/ASME Intertional Conference on Advanced Mechatronics.1997: 63
28 GongC,YuanJ,NiJ.Nongeom etric error identification and compensation for robotic system by inverse calibration[J]. International Journal of Machine Tools and Manufacture. 2000, 40(14): 2119~2137
29 Sadler, J. P., etal,“A Lumped Parameter Approach to Vibration and Stress Anslysis of Elastic Linkages”, Trans. ASME J. Engng Ind. 1973, 95(B):549~557
30 Cleghorn, W. L. et al,“Finite Elemet Analysis of High-speed Flexible Mechanisms,”Mech. Mach Theory. 1981, 16(4):407~424
31 Winfrey, R. C.,“Elastic Link Mechanism Dynamics,”Trans. ASME J. Engng Ind. 1971, 93(B):268~272
32 Erdman, A. G., et al,“A General Method for Kineto-Elastodynamic Analysis of Mechanisms,”Trans. ASME J. Engng Ind. 1972, 94(B):1193~1205
33石则昌,刘深厚.机构精确度.高等教育出版社, 1995: 83~86
34 ADAMS/FLEX User’s Manual. Mechanical DynamicsInc. 2000
35赵希芳. ADAMS中的柔性体分析研究.电子机械工程. 2006, 22(3): 62~64
36赵福良,郭小勤,刘秋生.新型可变的柔顺手腕.高技术通讯, 1995(12)
37 Whitney DE, Rourke. Mechanical Behavior and Design Equations for Elastomer Shear Pad Remote Center Compliances. J. Dyn. Syst. Meas. Control. Trans. ASME, 1986: 108~223
38杜松年,彭商贤,金佐中. RCC手腕层叠弹性杆理论分析及性能实验.天津大学学报. 1994, 27(4): 385~390
39成大先.机械设计手册(弹簧?起重运输件?五金件).化学工业出版社. 2004: 156~157
40 Boyce M C, Arruda E M. Constitutive models of rubber elasticity: A review[J]. Rubber Chemistry and Technology. 2000, 73(3): 504~523
41 ANSYS公司. ANSYS中文手册. ANSYS中国公司. 1998
42 Treloar LRC. The elasticity of a network of longchain molecules(Ⅲ)[J]. Transactions of the Faraday Society. 1946, 42(1): 83~93
43 Horgan C O, Saccomandi G. Finite thermoelasticity with limiting chain extensibility[J]. Mechanics of Time-dependment Materials.1998(1): 127-146
44 CharltonDJ, YangJ. A review of methods to characterize rubber elastic behavior for use in finite element analysis[J]. Rubber Chemical and Technology. 1994, 67(3): 481~503
45 Farhad Tabaddor. Elastic stability of rubber products[J]. Rubber Chemical and Technology. 1987, 60(5): 957~965
46 Gent A N. Engineer with rubber-How to Design Rubber Components[M]. 2000: 259~275
47 Grama R. Bhashyam, Ansys Mechanical-A PowerfulNonlinear Simulation tool. Ansys Mechanics & simulation Support Group. 2002(9)
48宋美江.复合型柔性腕的开发设计及产品化研究.天津大学硕士学位论文. 2004(1): 29~33
49 Kutt Miller, Testing Elastomers for Hyperelastic Material Modelings in Finite Element Analysis. 2000(7)