上海交通大学硕士学位论文车身门盖件机器人包边运动规划与仿真姓名:张如飞申请学位级别:硕士专业:车辆工程指导教师:林忠钦20050101摘要包边是一种连接汽车车身外板和内板的常见加工方法,是车门类总成(如门、盖等的重要装配工序,是指把外板料折叠180°从而与内板连接。
相对于模具包边来说,采用机器人带动滚子滚压包边,对不同的零件,都可以通过调整运动轨迹来完成包边过程。
相比现有的包边设备,机器人包边具有很高的柔性,有利于缩短开发周期,尤其适用于试制阶段。
滚压包边是通过机器人的轨迹来实现的,需要对不同形状的零件预先做轨迹规划。
本文研究了包边机器人的构型选择、包边运动轨迹的生成、运动学分析和运动轨迹规划问题,以SAIL车门的包边为例,利用ADAMS软件进行运动学仿真,验证了计算结果。
主要研究内容包括: (1根据包边工艺和原理,对机器人的构型进行选择,分析和确定机器人的自由度。
根据所选机器人的参数,计算机器人的工作空间,确定机器人和被加工零件的相对空间位置关系,针对包边初始阶段滚子的三种不同工艺动作,根据力学分析,选择了滚子受载最小的工艺动作。
(2用NURBS表达车门边缘的不规则空间曲面,采用微分几何方法和包络原理,推导滚子轴线端点的空间轨迹表达式。
(3对选择的机器人进行运动学分析和计算。
(4根据SAIL车门数模提取的滚子轴线端点的空间轨迹,用关节插值法计算机器人的运动轨迹。
用MATLAB软件对数据进行处理分析,并用ADAMS软件进行运动仿真分析,验证轨迹规划计算结果的正确性。
计算和仿真结果表明,六自由度的关节式球面坐标机器人可以满足包边工艺动作的要求;运动学分析和轨迹规划的计算结果与根据零件数模提取的滚子轴线端点的轨迹相符合,完成了包边工艺动作的运动规划计算。
关键词包边,车身,机器人,运动规划ABSTRACTHemming is a mechanical joining method that is typically used to connect two metal sheet components, such as the inner and outer panels of automobile door, hood and trunk lid. With regard to the traditionally hemming machine, the robot hemming system can be programmed to fit the body shell with the most diverse types and sizes in a single paring hemming equipment in being, the robot hemming system is a programmable system, in favor of shorten research period, especially be the same with trial-produce.With special part hemming, each robot movement needs beforehand planning. In this paper, I studied the hemming robot’s model, the method of hemming trajectory, kinematics' analyses and trajectory planning. According to hemming of the SAIL auto-door, I made the kinematics simulation with the ADAMS soft and testify result. Primary study content includes:⑴According to the hemming techniques and principle, I choose the style of the hemming robot analyzes and confirms the flexibility of robot. According to parameter of selected robot, I am calculating workspace of hemming robot, ensuring locality ofrelative spaces between robot and processed part. I am choosing the techniques in roller support lowest according to mechanics analysis.⑵Analyzing interrupted space surface-curved of body’s edges, expressingsurface-curved by NURBS, we educed the expression of roll-axes space trajectory according to roll radius, used the differential coefficient geometry method and principle of surface-curved.⑶ Do the kinematics analysis and calculation to the selected robot.(4 By using the joint intervene method we can calculate the motion trajectory, deal with data by MATLAB, confirm the movement track of robot and even gain the simulated motion with the soft of ADAMS.Calculating results and simulations indicate that the six-joint sphere coordinate robot can meet demand of the hemming techniques. The results calculated from the kinematics analysis and trajectory planning is accordance with the simulation demonstrated motion trajectory that distilled the roller axes dot, based on the accessory mathematic model foundation.Keywords: Hemming; Car body; Robot; Path planning上海交通大学学位论文原创性声明本人郑重声明:所呈交的学位论文,是本人在导师的指导下,独立进行研究工作所取得的成果。
