摘要:当前,工业机器人技术发展迅速,随着我国的工业技术的不断加强,工业机器人在工业发展中已经达到了不可代替的作用。工业机器人在很多领域中得到了应用,工业的金属液态浇铸是新兴的一种。浇铸机器人是机器人在工业方面的一种应用,本毕业设计主要概述了浇铸机器人在浇铸过程中的路径模拟设计,该机器人主要由腰部和大小臂组成,腰部和肩部之间形成的是腰关节,大小臂组成肘关节,大臂主要进行回转运动,小臂进行仰俯、伸缩运动,本文主要是利用KUKA Sim Pro 1.1进行模拟的,通过机器人的小臂前的腕部支撑着钢包对碳块进行钢水浇铸的一个路径模拟过程,代替人工进行高危的工作。43695
毕业论文关键词:工业机器人;路径模拟;浇铸;KUKA Sim Pro
Path simulation design of casting robot
Abstract: At present, the industrial robot technology is developing rapidly, with the continuous strengthening of industrial technology in our country, industrial robots in the industrial development has reached an. Industrial robots have been applied in many fields, and the liquid metal casting is a new kind of industry. Casting robot is a robot in industry an application, this graduation design mainly summarizes the the casting robot in the casting process of path simulation design, the robot is mainly by the waist and the size of the arm, formed between the waist and shoulder is a waist joint, the size of the arm composed of the elbow, arm mainly for rotary motion, the small arm of pitching, telescopic movement, this paper is mainly the KUKA SIM Pro 1.1 simulation. Through before the robot arm wrist supporting ladle of carbon block for a path of molten steel casting process simulation, instead of manual work to carry out high-risk work.
Key Words: Industrial robot; path simulation; casting; Sim Pro KUKA
目 录
1 绪论 1
1.1 浇铸工艺 1
1.2 浇铸机器人的概述 1
1.3 浇铸机器人的研究目的和意义 2
2 机器人动力学和运动学模型 6
2.1 机器人结构 6
2.2 机器人动力学 9
2.2.1 拉格朗日方程 9
2.2.2 牛顿-欧拉方程 11
2.2.3 凯恩法 11
2.3 机器人运动学基础 12
2.3.1 机器人位姿描述 12
2.3.2 机器人正运动学 13
2.3.3 机器人逆运动学 13
2.4 浇铸机器人运动学模型建立 14
2.4.1 机器人坐标系和D-H表示 14
2.4.2 浇铸机器人运动学正解 15
2.4.3 浇铸机器人运动学逆解 16
3 浇铸机器人关节控制及轨迹规划 18
3.1 浇铸机器人关节角度的手臂关节控制 18
3.2 浇铸机器人路径规划 21
3.3 浇铸机器人路径优化 22
4 KUKA Sim Pro模拟