文档介绍：摘要 I 论文题目: 基于行为动力学的机器人轴孔装配运动规划????学科专业:机械电子工程研究生: 蒋家婷签名: 指导教师: 傅卫平教授签名: 摘要在现代制造业中, 装配机器人被广泛应用在生产自动化领域, 其中最常见的是用于轴孔装配。本文将移动机器人的行为动力学导航方法移植应用到装配机器人轴孔装配的运动规划和控制中,根据机器视觉和力觉提供的信息实现装配机器人的自主轴孔装配运动。将装配机器人装配运动分为两个阶段: 趋向装配目标的大范围运动和进入装配目标的位姿调整运动。把机器视觉观测到的待装配孔的中心坐标和中心线方位作为吸引子, 将装配机器人末端执行器夹持的轴上参考点作为球体考虑, 将末端执行器参考点和目标点之间的障碍物( 障碍物也视作球体) 作为排斥子, 建立趋向装配目标的大范围运动的行为动力学模型, 并在 MATLAB 平台上对装配机器人在此阶段的运动过程的避障及各连杆和关节角的避障进行仿真分析。结合六维力传感器及其所测得的力和力矩, 对轴、孔进行装配接触过程各阶段的力进行分析。将待装配孔的中心位姿作为目标吸引子, 将孔边缘作为排斥子, 根据不同接触状态下接触点实际作用力以及待装配轴、孔位姿间偏差形成的虚拟吸引力, 建立位姿调整阶段的行为动力学模型,并进行轴、孔装配的位姿调整运动仿真。通过实际装配机器人在不同装配运动阶段的试验,验证理论模型的可行性。关键词: 装配机器人;轴孔装配; 行为动力学; 避障;六维力传感器?本文得到国家自然科学基金项目( ) 、陕西省自然科学基础研究计划重点项目(2011JZ012) 、陕西省重点学科建设专项资金项目资助西安理工大学硕士学位论文 II 目录 I TITLE: TITLE: TITLE: TITLE: MOTION MOTION MOTION MOTION PLANNING PLANNING PLANNING PLANNING FOR FOR FOR FOR ROBOT ROBOT ROBOT ROBOT PEG-IN-HOLE PEG-IN-HOLE PEG-IN-HOLE PEG-IN-HOLE ASSEMBLY ASSEMBLY ASSEMBLY ASSEMBLY BASED BASED BASED BASED ON ON ON ON BEHAVIOR BEHAVIOR BEHAVIOR BEHAVIOR DYNAMICS DYNAMICS DYNAMICS DYNAMICS ???? Major: Major: Major: Major: Manufacturing Manufacturing Manufacturing Manufacturing and and and and Automation Automation Automation Automation Name: Name: Name: Name: Jiating Jiating Jiating Jiating J J J J i i i i ang ang ang ang Signature: Signature: Signature: Signature: Supervisor: Supervisor: Supervisor: Supervisor: Prof. Prof. Prof. Prof. Weiping Weiping Weiping Weiping FU FU FU FU Signature: Signature: Signature: Signature: Abstract Abstract Abstract Abstract In modern manufacturing, assembly robot is widely used in the field of production automation, the mon of which is used for shaft hole assembly. This article behavior dynamics of the mobile robot navigation method in migrating applications to the the assembly robot shaft hole assembly motion control. According to the information provided by the visual and force sense of self-assembly of the assembly robot campaign to improve the efficiency and accuracy of the assembly. Assembly