基于运动学的焊接机器人示教方法研究.doc

湖南大学硕士学位论文基于运动学的焊接机器人示教方法研究姓名：伍臻申请学位级别：硕士专业：机械电子工程指导教师：王虎符20050420AbstractTeaching system, initiating with the appearance of robots, has obtained dramaticsuccess. Among the research on the teaching methods of the industrial robot, the important member of the robots family,the problems such as low instructionefficiency and long instruction time have been taken up to solve, but with extremelylittle effectiveness.With the 6-freedom welding robot in HuDa SanJia Mould Company as the research background, beginning with the characteristics of jointing process and combining robot kinematics, computational graphics and primary space geometry, a novel teaching method based on kinematics computation was put forward. This method with only cursory position instruction can obtain the accurate position and pose of the robots end performer, and achieve the jointing robots rapid instruction to space random welded joint. Firstly, the fundamental theory of robot kinematics was discussed in detail. The Denavt-Hartenberg method was studied deeply so that the universal solution of kinematics forward and inverse problemwas presented. A rapid teaching methodwithout accurate control on general welding robot was bought forward, the principleof which was introduced systematically, and a linear interpolated method on multiplecoordinate axises was given as well. Secondly, after analyzing the mechanicalconstruction of a 6-freedom welding robot made by HuDa SanJia Mould Company the kinematics model was established according to D-H method, some researches on theapplication of the new teaching method for the robot were done, the algorithm fromnew teaching method was deduced in detail and some multi-solution problems of theinverse kinematics were treated properly. A full automatic instruction scheme on theprocess of continuous demonstration discussion was put forward. The open systemconstruction of present robot control system and the multi-thread frame of controlsoftware were analyzed, and the threadwhich was used in realizing the teachingmethod in the system was arranged and the problem of communication with the lower computer was solved. Finally, in order to meet the need of the new teaching method,a rapid instruction device with the MCU as the maincontrolleris designed, and its operating principle and data agreement are discussed in detail. The communicationwith the upper computer and acquisition of power supply from serial port used in the IIinstruction device are represented. Key Words: WeldingRobot; TeachingMethods;KinematicsIII1_211.1ROBOTISO1987,1220194719481954DEVOC1958CONSOLIDATBD1962UNIMATIONUNIMATE19681967UNIMATE19681973JIRA1980198492349 45819631972701996200013%2002- 1 - 1401.11.1 20022002-20063199820022003200641180035016934400033340081700103515111100135200233139248100303500732001033171113001364003150046881505006200016200342773350031700108001365113700144000280035211.2UNIMATEMOTOMANASEACOOL1.2,451999402 00017%40%40%30%50%- 2 - 1.2()()(%)4020001719000(48000)(40)(11.2)118863939030.216.81790729.718.038471082135.59.22559759833.75.81636455036.027.61243221756.05001994199610 0001996705005300 1053%46%690%37%94%39%30%24%6%86319967863HT100A1995SI348620001000KUKA19965- 3 - KUKA125KG19969MOTOMAN1071.31955DenavitHartenbergPaul33DHKrcysztof TchonDHDH- 4 - 1.4,893,1011121.132.3.CAD14a.b.- 5 - CAD1516PUMA562CLOOSRobot 260Robot 500171819202122- 6 - 1.51.5.11.5.2xXYZxyz1.1XYZ- 7 - 1.11234z1.5.31- 8 - 21231.61.6.1DH1.6.2- 9 - PCAT89C20511.7- 10 - 22.12122.2232.2.1APpATzyxApppp2.1pAA2.1AAxpypzppAyAApApoA2.1- 11 - 2.2.2BBA33BxByBzBABABAABzyxR2.2BA2.2AABBRABRABBAxBAyBAzTABABRR11RAB2.3yAApApoABOxByBzBoB2.2BBABAPBOApRABBOAABpRP2.4IRAB0BOAp2.2.3aonpyx2.32.3p- 12 - za(approach)yo(oriention)n(normal)n=oax441000zzzzyyyyxxxxpaonpaonpaonpaonT2.52.3D-H2iii+1DenavitHartenberg1955DH242.3.112.4i-1ii+1diaiiixizixi-1zi-12.4aii(zi-1)i+1(zi)aiai0aiii(zi-1)(xi)i+1(zi)22.4- 13 - diii-1iii+1zi-1ii-1i(xi-1)ii1(xi)zi-12.3.2DHDH4412.4iii+1i+1izi+1xii+1y0z01100o0o1o2DHDHi-1ii-1ii-1zi-1izi-1dixiaixiii-1ii111(,)(,)(,)(,)cossin0000010010010cossin0sincos00010010000100010010sincos00000100000001010000iiiiiiiiiiiiiiiiiiiiTRotzTranzdTranxaRotxad- 14 - 1sincos0cossincossinsin0sincoscoscossin00sincosiiiiiiiiiiiiiiiiidaa2.63DHzxyoizioiziaiii-1ai0oioi-1di0iididiD-H111(,)(,)(,)cossin0000010010cossin0sincos0001000100010sincos000010000100000sincoscoscoscossinsin00iiiiiiiiiiiiiiiiiiiiiiiiTRotzTran