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南京理工大學(xué)泰州科技學(xué)院
畢業(yè)設(shè)計(jì)說明書(論文)
作 者:
錢瑞
學(xué) 號(hào)：
0501510131
系 部:
機(jī)械工程系
專 業(yè):
機(jī)械工程及自動(dòng)化
題 目:
集裝箱波紋板焊接機(jī)器人機(jī)構(gòu)
運(yùn)動(dòng)學(xué)分析及車體結(jié)構(gòu)設(shè)計(jì)
助教
吳晟
指導(dǎo)者：
評(píng)閱者：
2009 年 6 月
畢業(yè)設(shè)計(jì)說明書（論文）中文摘要
隨著工業(yè)水平的發(fā)展,重要的大型焊接結(jié)構(gòu)件的應(yīng)用越來越多,其中大量的焊接工作必須在現(xiàn)場作業(yè),如集裝箱波紋板焊接機(jī)器人、大型艦船艙體、甲板的焊接、大型球罐(儲(chǔ)罐)的焊接等。而這些焊接場合下，焊接機(jī)器人要適應(yīng)焊縫的變化，才能做到提高焊接自動(dòng)化的水平。無疑,將機(jī)器人技術(shù)和焊縫跟蹤技術(shù)結(jié)合將有效地解決大型結(jié)構(gòu)件野外作業(yè)的自動(dòng)化焊接難題。因此機(jī)器人的設(shè)計(jì)對(duì)于解決這一難題至關(guān)重要。
本課題主要完成機(jī)器人運(yùn)動(dòng)學(xué)的逆解、車體的總體設(shè)計(jì)、電機(jī)的選擇等方面。主要從機(jī)器人運(yùn)動(dòng)學(xué)逆解的角度完成一個(gè)周期內(nèi)的運(yùn)動(dòng)學(xué)逆解，求出三個(gè)關(guān)節(jié)應(yīng)按照什么運(yùn)動(dòng)規(guī)律進(jìn)行運(yùn)動(dòng)，還有三個(gè)關(guān)節(jié)的運(yùn)動(dòng)之間的函數(shù)關(guān)系，進(jìn)而完成對(duì)整個(gè)機(jī)器人的總體設(shè)。通過對(duì)小車的受力分析完成對(duì)車輪、車體的設(shè)計(jì)。根據(jù)實(shí)際操作中遇到的問題對(duì)完成對(duì)電機(jī)的選擇。最后對(duì)所選的齒輪進(jìn)行校核，使之能完成具體的操作要求。
關(guān)鍵詞 機(jī)器人技術(shù) 機(jī)構(gòu)設(shè)計(jì) 運(yùn)動(dòng)學(xué)逆解 強(qiáng)度校核
畢業(yè)設(shè)計(jì)說明書（論文）外文摘要
Title Robot developt
Abstract
With the development of industrial level, it is important to large-scale structure of the application of welding more and more, including a large number of welding operations must be at the scene, such as robot welding corrugated containers, large ship cabin, the deck of the welding, a large spherical tank (tank), such as welding. These welding occasion, the welding robot to adapt to changes in weld, welding can be done to improve the level of automation. There is no doubt that technology and robot seam tracking technology to effectively solve large-scale structure of the automation field welding problems. Therefore the design of the robot is essential for the solution to this problem.
The main subject of the completion of the robot inverse kinematics solution, the body design, the choice of motor and so on. The main robot inverse kinematics from the perspective of a cycle through the end of the known actuator position posture against the solution of the coordinates of the joints, and then completed the whole set up of the robot. Force analysis of the completed car wheels, car body design. According to the actual problems encountered in the operation of the completion of the motor choice. Finally, the gear selected for verification, so that it can complete the specific operating requirements.
Keywords Robot technology Organization is designed The kinematics goes against solution he intensity is proofreaded