工业机器人设计【三自由度 圆柱坐标式气压驱动】【11张CAD图纸+PDF图】
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无锡太湖学院
毕业设计（论文）
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题目： 工业机器人设计
机电 系 机械工程及自动化专业
学 号： 0923195
学生姓名： 白文杰
指导教师： 黄敏（职称：副教授）
2013年5月25日
无锡太湖学院
毕业设计（论文）
开题报告
题目： 工业机器人设计
机电 系 机械工程及自动化 专业
学 号： 0923195
学生姓名： 白文杰
指导教师： 黄敏 （职称：副教授）
2012年11月25日
课题来源
自拟
科学依据（包括课题的科学意义；国内外研究概况、水平和发展趋势；应用前景等）
机器人是二十世纪人类最伟大的发明之一，人类对于机器人的研究由来已久。上世纪70年代之后，计算机技术、控制技术、传感技术和人工智能技术迅速发展，机器人技术也随之进入高速发展阶段，成为综合了计算机、控制论、机构学、信息和传感技术、人工智能、仿生学等多门学科而形成的高新技术。其本质是感知、决策、行动和交互四大技术的综合，是当代研究十分活跃，应用日益广泛的领域。机器人应用水平是一个国家工业自动化水平的重要标志。
机器人技术的研究在经历了第一代示教再现型机器人和第二代感知型机器人两个阶段之后进入第三代智能机器人的发展阶段。
机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，它是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化有机结合。机械手能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生产率。机械手越来越广泛地得到了应用，在机械行业中它可用于零部件组装 ，加工工件的搬运、装卸，特别是在自动化数控机床、组合机床上使用更普遍。目前，机械手已发展成为柔性制造系统FMS和柔性制造单元FMC中一个重要组成部分。把机床设备和机械手共同构成一个柔性加工系统或柔性制造单元，它适应于中、小批量生产，可以节省庞大的工件输送装置，结构紧凑，而且适应性很强。当工件变更时，柔性生产系统很容易改变，有利于企业不断更新适销对路的品种，提高产品质量，更好地适应市场竞争的需要。
此外，医疗机器人是目前国外机器人研究领域中最活跃、投资最多的方向之一,其发展前景非常看好。近年来,医疗机器人技术引起美、法、德、意、日等国家学术界的极大关注, 研究工作蓬勃兴起。二十世纪九十年代起，国际先进机器人计划已召开过的多届医疗外科机器人研讨会己经立项,开展基于遥控操作的外科研究,用于战伤模拟手术、手术培训、解剖教学。欧盟、法国国家科学研究中心也将机器人辅助外科手术及虚拟外科手术仿真系统作为重点研究发展的项目之一在发达国家已经出现医疗，外科手术机器人市场化产品，并在临床上开展了大量病例研究。韩国和新加坡的机器人密度(即制造业中每万名雇员占有的工业机器人数量)居世界第1-3位，包揽了前三名。西欧的意大利、法国、英国和东面的匈牙利、波兰等，机器人制造业及应用机器人的情况都有很大发展
研究内容
（1） 了解工业机械人的工作原理，国内外的研究发展现状。
（2） 完成工业机器人的总体方案设计（包括行走机构，回转机构、夹持结构）等。
（3） 完成有关零部件的选型计算、结构强度校核计算；
（4） 熟练掌握有关计算机绘图软件，并绘制装配图和零件图纸，折合A0不少于2.5张。
（5） 完成设计说明书的撰写，并翻译外文资料1篇。
拟采取的研究方法、技术路线、实验方案及可行性分析
工业机器人目前已成为大规模制造业中作自动化生产线上的重要成员。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平。
本课题属工程设计类课题，要求完成工业机器人的总体和零部件结构设计。通过本设计，可以帮助学生加深对本专业的相关知识理解和提高综合运用专业知识能力。
研究计划及预期成果
研究计划：
2012年11月12日-2012年12月25日：按照任务书要求查阅论文相关参考资料。填写毕业设计开题报告书。
2013年1月11日-2013年3月5日：填写毕业实习报告。
2013年3月8日-2013年3月14日：按照要求修改毕业设计开题报告。
2013年3月15日-2013年3月21日：学习并翻译一篇与毕业设计相关的英文材料。
2013年3月22日-2013年4月11日：分析全自动机械手中“臂”机构的基本原理，基本理论及方法；全自动机械手中“臂”机构的传动设计及基本设计计算。
2013年4月12日-2013年4月25日：全自动机械手中“臂”机构的设计、结构图、装配图设计；全自动机械手中“臂”机构传动分析研究。
2013年4月26日-2013年5月21日：毕业论文撰写和修改工作。
特色或创新之处
（1）结构紧凑，工作范围大而安装占地小。
（2）具有很高的可达性。可以使其手部进入像汽车车身这样一个封闭的空间内
进行作业，而直角坐标型的机器人就不行。
（3）因为没有移动关节，所以不需要导轨。转动关节容易密封，由于轴承件是
大量生产的标准件，则摩擦小，惯量小，可靠性好。
（4）所需关节驱动力矩小，能量消耗少
已具备的条件和尚需解决的问题
（1）通过参考大量的文献，掌握课题研究的背景，调研国内外有关课题研究方面的现状、发展和应用情况，发现全自动机械手中“臂”机构设计中的问题，明确课题研究的目的、意义、任务及内容。
（2）学习和掌握全自动机械手实现手术的相关方法和技术，并结合课题实际分析各种相关方法和技术的优缺点，以便确定方案和设计内容
指导教师意见
指导教师签名：
年 月 日
教研室（学科组、研究所）意见
教研室主任签名：
年 月 日
系意见
主管领导签名：
年 月 日
英文原文
THE STRUCTURE DESIGN AND KINEMATICS OF A ROBOT
MANIPULATORml. THEORY
KESHENG WANG and TERJE K . LIEN
Production Engineering Laboratory, NTH-SINTEF, N-7034 Trondheim, Norway
A robot manipulator with six degrees of freedom can be separated into two parts: the arm with the first three joints for major positioning and the wrist with the last three joints for major orienting. If we consider theconsecutive links to be parallel or perpendicular, only 12 arm and two wrist configurations are potentially usefuland different for robot manipulator mechanical design. This kind of simplification can lead to a generalalgorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist.The approaches for calculating the inverse kinematics of a robot manipulator are very efficient and easy.The approaches for calculating the inverse kinematics of a robot manipulator are very efficient and easy.
1. INTROUCTION
A robot manipulator consists of a number of linksconnected together by joints. In robot manipulatordesign, the selection of the kinematic chain of therobot manipulator is one of the most importantdecisions in the mechanical and controller designprocess.
In order to position and orient the end effector ofthe robot manipulator arbitrarily, six degrees offreedom are required: three degrees of freedom forposition and three degrees of freedom for orient-ation. Each manipulator joint can provide onedegree of freedom, and thus a manipulator musthave a minimum of six joints if it is to provide sixorthogonal degrees of freedom in position andorientation.
The construction of manipulators depends on thedifferent combination of joints. The number of poss-ible variations of an industrial robot structure can bedetermined as follows:
V =6
where
V= number of variations.
D F = n u m b e r of degrees of freedom
These considerations show that a very largenumber of different chains can be built, for examplesix axis 46,656 chains are possible. 6 However, alarge number is not appropriate for kinematicreasons.
We may divide the six degrees of freedom of arobot manipulator into two parts: the arm whichconsists of the first three joints and related links; andthe wrist which consists of the last three joints andrelated links. Then the variations of kinematic chainswill be tremendously reduced. Lien has developedthe constructions of arm and wrist, i.e. 20 differentconstructions for the arm and eight for the wrist.2
In this paper, we abbreviate the 20 different armsinto 12 kinds of arms which are useful and different.We conclude that five kinds of arms and two kinds ofwrists are basic constructions for commercial indus-trial robot manipulators. This kind of simplificationmay lead to a general algorithm of inverse kinema-tics for the corresponding configuration of differentcombinations of arm and wrist.
2.STRUCTURE DESIGN OF ROBOT MANIPULATORS
In this paper, for optimum workspace and sim-plicity, we assume that:
(a) A robot with six degrees of freedom may beseparated into two parts: the linkage consistingof the first three joints and related links is calledthe arm; the linkage of the remaining joints andrelated links is called the wrist.
(b) Two links are connected by a lower pair joint.Only revolute and linear joints are used in robotmanipulators.
(c) The axes of joints are either perpendicular or
According to the authors' knowledge, thisassumption is suitable for most commercially usedindustrial robot manipulators. We can consider thestructure of arm and wrist separately.
2.1. The structure o f the arm o f robot manipulator
(a) Graphical representation. To draw a robot inside view or in perspective is complicated and doesnot give a clear picture of how the various segmentsmove in relation to each other. To draw a robot in aplane sketched diagram is too simple and does notgive a clear construction picture. We compromisethis problem in a simple three-dimensional diagramto express the construction and movements of arobot manipulator. A typical form of representationfor different articulations is shown in Table 1.
(b) Combination of joints. We use R to representa revolute joint and L to represent a linear joint.Different combinations of joints can be obtained asfollows:
According to the different combinations with theparallel or perpendicular axes, each previous combin-ation has four kinds of sub-combination. Thus, 32combinations can be arrived at:
If the second joint is a linear joint and both the otherjoints are perpendicular to it, two choices in relationto the first and the third joints are considered paral-lel or perpendicular.
In all, there are 36 possible combinations of a simplethree-joint arm.
Nine of 36 possible combinations degenerate intoone or two degrees of freedom.
Seven of the remainder are planar mechanisms.Thus, there are 20 possible spatial simple arms.
Let us consider R1 [1 L2 I L3 in whichthe first joint permits rotation about the vertical axis,the second joint is a vertical linear joint (i.e. parallelto the first), and the third joint is a horizontal linearjoint (i.e. perpendicular to the second). This armdefines a typical cylindrical robot. Changing thesequential order of the joints so that either (a) thevertical linear joint precedes the rotary joint, or (b)the vertical linear joint follows the horizontal one,will result in no change in the motion of the arm. Inthis case there are two linkages which are both"equivalent" to the standard cylindrical linkage. Inall such cases where two or more equivalent linkagesexist, the representative of the group will be the onein which the linear joint that is parallel to a rotaryjoint is in the middle (joint No. 2). Counting onlyone linkage to represent the group of equivalentswill eliminate eight of the 20 combinations. Theremaining 12 categories of links are useful and dif-ferent shown in Fig. 1. We get the same results as inRef. 4.
(c) Five basic types o f manipulator arm. Althoughthere are 12 useful and different arm-configurationswhich can be used in the design of a robot man-ipulator arm, in practice only some of them arepractical and commonly used. We find that mostcommercially available industrial robots can bebroken down into only five groups according to the.
characteristics of their arm motion and geometricalappearance.The five groups can be defined as follows and areshown in Fig. 6.
1. Cartesian ( L I L I L)
2. Cylindrical (R II L 1 L)
3. Spherical (R I R I L)
4. Revolute (R I RII R)
5. Double cylindrical ( LII R II R).
2.2. The structure o f a manipulator wrist
(a) Joint type. We have used the first three joints,i.e. the arm of the robot manipulator, to completethe major task of positioning. Then we use the lastthree joints to provide the three degrees of freedomof orientation and refer to the related linkages as thewrist.
The wrist of a complete manipulator must containthree revolute joints, since the orientation of a rigidbody has three degrees of freedom, for example firstrotation about the X axis, then rotation about the yaxis, and finally rotation about the z axis.
(b) Combination or joints and links. Because theorientation of a wrist which only has three rotationaljoints is simplest, its combination is much simpFrom the combination R R R , we know that onlyone of the four configurations can be used for com-pleting the orientation of robot wrist. R II R II R is aplanar mechanism. R 1 R II R and R II R 1 R cannotexpress three degrees of freedom in the orientationof the robot wrist. So only the R 1 R 1 R construc-tion can be used to complete the orientation task.
If we have a different sequence of x, y, z axes, ofcourse we can get many kinds of wrist configuration.But many of them are "equivalent". We only con-sider the relationship between the first and the thirdjoint: parallel and perpendicular. Two differentcombinations can be arrived at, i.e. the Euler angleand r o l l - p i t c h - y a w angle expressions that are shownin Fig. 2. The sequence of x, y, z axes does, however,have an influence on the complexity of the inversekinematic solution.
2.3. Typical robot manipulator structure
We can use five categories of arm configurationand two kinds of wrist configuration to combine 10different kinds of robot manipulators with the sixdegrees of freedom which exist in industrial practice.Of course, we can also consider the other seven outof 12 arm categories with one out of two wristcategories to build a new robot manipulator. Butmost of them have not appeared in industrial prac-tice yet.
3. SOLUTION FOR INVERSE KINEMATICS OF ROBOT MANIPULATOR
3.1. General principlesTo find the inverse kinematic equations of a robotmanipulator at first appears to be a difficult task. Butwhen the manipulator is separated into two parts, itbecomes relatively simple.The relationship between the position and orien-tation of manipulator links connected together byrotational joints shown in Fig. 3, can be described by
Where
0i is the ith joint variable;
di is the ith joint offset;
ai is the ith link length; and
ai is the ith link twist angle.
The position and orientation of the end effector ofthe robot manipulator °T is the matrices product. 3,
T = A I A 2 A 3 A 4 A s A 6 . (2)
By the associative law the product of matrices can beregrouped into two subsets which represent the armand wrist respectively
Where
And
The superscripts designate the reference frame; arepresents the tip of the arm; and w represents thetip of wrist, i.e. the center of the end effector of themanipulator.°T given for the end effector can be written as a4 x 4 homogeneous matrix composed of a orienta-tion submatrix R and a position vector p5.6
We can obtain the vector OaPdirectly using a vectoranalysis method. The detail will be mentioned in thenext section.
from Eq. (4),
We can get 01, 02, 03, the first three joint variablesfrom the solution of the following equation:
The orientation of the end effector of the robotmanipulator can be considered as the product of theorientation of the arm and the orientation of the wrist:
From Eqs (12) and (5), we can obtain
where
We can get the last three joint variables 04, 05, 06 by solving Eq. (13).
3.2. Different methodsThere are two kinds of solutions for the robot
manipulator: closed form solutions and numericalsolutions. Because of their iterative nature, numeri-cal solutions are generally much slower than thecorresponding closed form solutions, so much so that for most uses, we are not interested in the numerical approach to solution of kinematics. But, in general, it is much easier to obtain the numerical algorithm
than to obtain the closed form solution.
In this paper we propose algorithms of both solu-tions.
(a) Closed form solution. In the closed form solu-tion, the key problem is to obtain the position of thetip of the arm P. It is simple to obtain the position ofthe arm tip for the wrist axis intersecting at onepoint. But it is complex for the wrists where there isan axis offset, because the movement of the wristwill greatly affect the position of end effector of themanipulator
In the following, we use the RRR + Euler angleand RRR + R - P - Y angle as examples to describehow to get the position of the tip of arm separately. RRR + Euler angleFigure 4 shows a sketch diagram of a
R R R + Euler angle
robot manipulator (PUMA 600) and the co-ordinate system which is represented by the D - Hexpression. The figure shows the relationship be-tween the arm and wrist vectors. ~r, is the positionvector from the base coordinate frame to the centerof the end effector of the robot manipulator. Arepresents the approach direction of the end effec-tor, °aPis the arm vector measured from the origin tothe connecting point of the arm and wrist, gP is thewrist vector having the same direction as the Avector and length measured from the connectionpoint of the arm and wrist to the center of the endeffector.
With reference to frame 0, the product ~R gP issimply gP, i.e. the position of the center of the endeffector of robot manipulator measured from the tipof the arm, all with respect to frame 0. We canobtain
This states that the total translation of the endeffector is the sum of the translation from the base to
the tip of the arm plus the transformation from thetip of the arm to the center of the end effector.
From Eq. (17), we can easily obtain the positionof the arm tip ~P as follows:
Then we can use Eqs (10) and (11) to obtain the firstthree joint variables 0:, 02, 03 and Eq. (13) to obtainthe last three joint variables 04, 05,06. The detailedsolution is shown in Part II. t0
Figure 5 shows a sketch diagram of a RRR +R - P - Y angle robot manipulator (Cincinatti Mila-
cran T 3) and the coordinate system. Euler anglesare different from R - P - Y angles because the vector0p is affected by the movement of joint 4. Here is anexample showing how to treat the wrist axis offset.gPt:is the wrist vector having the same direction asthe A vector and length measured from the point ofjoint 4 to the center of the end effector, i.e. d+. ~P2 isthe other wrist vector having length measured frompoint of joint 4 to point of joint 5, i.e. a4. oP, theposition of arm, can be computed from the se-quential solution of the following set of equations:
Then we can obtain 01, 02, 03 from Eqs (10) and (11)and obtain 0+, 05, 06 from Eq. (13).
• General closed form solution algorithm
Step 1. Finding the approach vector of the endeffector
Step 2.If there is some off-set in the wrist construc-tion, use the vector algebra to determine the
off-set gP, and get the arm vector, i.e. theposition of arm tip, then go to step 4.Otherwise go to Step 3. Compute the arm vector ~P directly usingapproach vector A.
Step 4. Compute the first three joint variables 01,02, 03, using the arm vector gP from Eqs
(10) and (11).
Step 5. Compute the last three joint variables 04, 05,06 from Eq. (13).This approach shows that the number of computa-tions is kept to a minimum by reducing the overallproblem into separate steps which in turn lowers thelikelihood of errors and helps to reduce the tedious-ness of the work.
(b) Numerical solution. The algorithm for thenumerical solution:
Step 1. Assume the last three joint variables 04, 05,06 by the best available approximation,perhaps from a previous computed point.
Step 2. Compute the arm joint variables 81, 02, 03from Eqs (10) and (11).
Step 3. Compute wrist joint variables 04, 05, 06 from
Eq. (13), using the values of the arm jointvariables obtained from step 2.
Step 4. Compute the position and orientation of theend effector of robot manipulator using the
values of all joint variables obtained fromstep 2 and step 3.
Step 5. If the errors between the given values andthe calculated values is less than a pre-
specified value, then the procedure stops.Otherwise go to step 2 to repeat the pro-
cedure.The physical interpretation of the above pro-cedure is alternately to move the arm and wrist, oneto satisfy the positional and other to satisfy theorientational specification of the end effector, eachtime moving only the arm (or the wrist) while hold-ing the wrist (or the arm) fixed.
This method has been implemented in a PUMA600 robot manipulator. It has been found that four is a sufficient number of iterations to reach therequired accuracy (A < 0.01 mm) and the number has been fixed in the inverse kinematic solution.This algorithm has the advantage of treating the different kinds of robots with the same algorithm.But this method needs so much more computing time than the closed form solution, that it is notsuitable for real-time control of robot manipulators.
4. CONCLUSIONS
The variety of possible robot configurations isvery large. A step towards generalization has been made by emphasizing that robot manipulators ofpractical importance are separable into primary sub-systems, the arm and the wrist. Mathematical treat-ment of various robots may be modularized and thusgreatly simplified by giving a separate description ofvarious arms and various wrists in common use.It has been discovered that only 12 useful and different categories of arm construction and twokinds of wrist construction exist. Using thehomogeneous transformation matrix method, theinverse kinematic solution is easily derived.The two algorithms which consist of the closedform and numerical solution of the inverse kine-matics have been given in this paper.
REFERENCES
1. Denavit, J., Hartenberg, R.S.: A kinematic notationfor law pair mechanisms based on matrices. J. Appl.Mech. Trans. ASME 77: 215-221, 1955.
2. Lien, T.K.: Banestyring for universelle handterings-automater. Trondheim, August 1980.
3. Lien, T.K.: Coordinate transformations in CNC sys-tem for automatic handling machines, llth CIRPSeminar on Manufacturing Systems, Nancy, France,June 1979.
4. Milenkovic,V., Huang, B.: Kinematicsof major robotlinkage. 13th International Symposium on Industria
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