工业机器人机械结构模块化参数化设计  

Modular and Parametric Design for Mechanical Structure of Industrial Robots

作　　者：冯慧娟 苗青 樊胜秋 王海龙 王伟 FENG Huijuan;MIAO Qing;FAN Shengqiu;WANG Hailong;WANG Wei(Training Center,Hebei University of Technology,Tianjin 300401,China;Tianjin Railway Signal Co.,Ltd.,Tianjin 300300,China)

机构地区：[1]河北工业大学工程训练中心,天津300401 [2]天津铁路信号有限责任公司,天津300300

出　　处：《机床与液压》2019年第21期60-63,共4页Machine Tool & Hydraulics

基　　金：河北省科学计划项目(16211819)

摘　　要：为提高工业机器人的设计效率,对工业机器人进行功能分析及模块划分,将工业机器人分为4种通用模块,分别是执行器模块、旋转臂模块、俯摆臂模块及底座平台模块4种模块;建立模块之间的3种标准连接接口;对工业机器人各模块进行三级参数化设计,一级参数驱动机器人总体结构尺寸,二级参数驱动机器人各模块的结构尺寸,三级参数驱动机器人各零件的结构尺寸,制定机器人产品序列相关参数;最后利用该方法完成一种搬运机器人的三维模型设计,通过D-H方法建立了搬运机器人运动学模型及方程,推导出机器人的运动学正解及逆解,对模型机械结构的合理性和可达性进行了验证,并为机器人轨迹规划及实时控制提供了理论基础。用户进行机器人产品设计时,只需要根据实际工况选择合适的产品系列及模块种类并按照一定的方式进行模块装配,即可完成机器人设计,有效缩短了机器人设计周期和设计难度。In order to improve the design efficiency for industrial robots,based on the functional analysis,the articulated industrial robot is divided into actuator module,rotary arm module,prone swing arm module,base platform module.There are three standard interfaces between two modules.The robot parameters were divided into three levels,the first level parameters drive the whole structure size of the robot,the second level parameters drive the structure size of every module,the third level parameters drive the structure size of every part,related parameters of robot product series were established,a transfer robot three dimensional(3D)model was designed in the end,the coordinate systems of joints were set up and D-H parameters were proposed through D-H method,which has proved the rationality and reachability of the model and provided theoretical basis for path planning and real-time control of the robot.All the users have to do when they do the robot design are to choose the appropriate product serial number and finish the module assembling according to actual working conditions,which has shortened the cycle and difficulty for industrial robots design.

关 键 词：机器人 模块化设计 参数化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]