文档介绍：机械制造自动化论文
专业机械制造及其自动化
摘要
本设计以水平四自由度装配机器人大小手臂为研究对象，采用虚拟样机技术对机械系统进行设计，利用UG的运动学和动力学仿真功能，对水平四自由度装配机器人手臂的运动学和动力学特性做了深入研究。仿真分析结果可以指导零件的结构设计或调整零件的材料的选择。虚拟样机技术的应用对于提高工业产品的品质，降低产品开发和生产成本具有很大的作用。
首先建立了水平四自由度装配机器人整体的模型，并依据以上模型建立了水平二连杆机器人手臂的运动学和动力学方程，从理论上对水平二连杆机器人大小手臂的运动学和动力学规律进行研究。
在机器人手臂的运动学和动力学仿真分析方面，利用UG做运动学和动力学仿真，可以得到各杆件的任一点的位置、速度、加速度、作用力、力矩、各连杆的动能和机械手的总动能等。以上信息的取得对于机器人手臂的设计可以起到支持作用。
关键词：水平四自由度装配机器人；运动学分析；动力学分析；仿真
Abstract
In this article, we aim to design a planar four-DOF assembly robot arm. Using virtual Prototyping Technology designs mechanism system. We utilize the kinematics and dynamics simulation function of virtual prototype software UG to get the kinematics and dynamics characteristic of the planar four-DOF assembly robot arm. The simulation results of the analysis can help us modify the material of part and improve the structure design. Applying virtual Prototyping Technology is important for improving the quality of product and decrease the case of product.
We first build the model of the planar four-DOF assembly robot; then establish the kinematics and dynamics equation of the planar four-DOF assembly robot arm, and do some theoretical research on the kinematics and dynamics characteristics of the robot arm. For the two-bar robot arm, we focus merely the whole kinetic energy at horizontal condition, and neglect the change of potential energy due to the bending deflection of the robot arm.
In the simulation of the kinematics and dynamics of robot arm, we use UG
to get the displacement, speed, acceleration, force, torque, kinetic energy of each link and the whole kinetic energy of robot arm, etc. Such information will support the design of robot arm.
Key word: Planar four-DOF assembly robot; Kinematics analysis; Dynamics analysis, Simulation
目录
第一章绪论---------------------------------------------------------1
工业机器人及其相关技术的