论文部分内容阅读
在SolidWorks环境下构建了一种适用于自动化冲压生产线的5自由度串联机器人,并对机器人工作时上下料运动过程进行了详细描述。同时,针对自动上下料运动过程,运用数学模型进行理论分析,采用D-H法建立第2种机器人坐标系,列出运动学参数、关节变量和齐次变换矩阵,最后求解出运动学方程的正逆解,可与后续实际生产中机器人的真实运动情况做对比。应用ANSYS Workbench对底座先进行拓扑优化,在满足刚度和强度要求的情况下,使得底座质量减少了32.6%,优化效果显著。然后再对拓扑优化后的结果进行多目标参数优化,使其在满足要求的前提下,底座所受的等效应力值尽可能减小,优化效果更好。
In SolidWorks environment, a series of 5-DOF serial robots for automatic stamping production line are constructed and the process of loading and unloading of robots is described in detail. At the same time, aiming at the process of automatic loading and unloading, the mathematical model is used to carry out the theoretical analysis. The second robot coordinate system is established by DH method. The kinematic parameters, joint variables and homogeneous transformation matrices are listed. Finally, the positive and negative kinematics equations Solutions can be compared with the real robot movement in subsequent actual production. With ANSYS Workbench, the topology of the base was optimized firstly, which reduced the base mass by 32.6% while meeting the rigidity and strength requirements. The optimization effect was remarkable. Then the multi-objective parameter optimization of the topology optimization results is made, so that the equivalent stress value of the base is reduced as much as possible and the optimization effect is better under the premise of meeting the requirements.