工业机器人机械本体模块化设计

摘要/Abstract

摘要： 基于工业机器人机械本体模块化设计思想，以机器人的结构功能分解为基础，创建了标准机械结构模块库并实现了模块的自动装配。将人体手臂参数作为标准结构模块缩放的内置参数，建立了尺寸不同、功能相似的扩展结构模块库。基于边界曲线的几何特征对工作空间进行了类型划分，并依据关键点位置分析法及改进的CAD变量几何法将工作空间求解模块化。将坐标系模块库生成的D-H参数作为各模块的共享数据，实现了运动学与工作空间的自动求解。以库卡机器人KR6-2的正运动学与工作空间模块化自主求解为例，对比分析软件运行结果与理论计算结果，验证了该方法可满足机器人柔性化自主设计需求。

关键词: 工业机器人, 模块化设计, 工作空间, 二次开发

Abstract: Based on the idea of mechanical noumenon modular design method as well as decomposition principles of structure functions, a standard mechanical structure module library was established and the self-assembling function was achieved. The human arm parameters were used as built-in parameters of the standard mechanical structure module library, which might establish a extended structure module library with different sizes and similar functions. The workspace was reclassified based on the geometric characteristics of boundary curves. The solving process of workspace was modularized according to the key point position analysis method and improved CAD variable geometric method. The D-H parameters generated by the module library of coordinate system were used as share data among each module library, which might realize automatic solution of kinematics and workspace. The forward kinematics and workspace modular automatic solution of KUKA KR6-2 were taken as an example, the software running results and theoretical calculation results were compared and analyzed, and the results show that this method can meet the robot's flexible and autonomous design requirements.

Key words: industrial robot, modular design, workspace, secondary development

中图分类号:

TP242

肖超, 周玉林, 盛海泳, 侯雨雷. 工业机器人机械本体模块化设计[J]. 中国机械工程.

Xiao Chao, Zhou Yulin, Sheng Haiyong, Hou Yulei. Modular Design of Mechanical Noumenon for Industrial Robots[J]. China Mechanical Engineering.

参考文献

[1]毛剑飞,邹细勇. 基于面向对象的机器人离线编程和图形仿真系统的研究[J].中国机械工程, 2005, 16(5): 436-439.

Mao Jianfei, Zou Xiyong. Object-oriented Off-line Programming and Graphical Simulation System for Robots[J]. China Mechanical Engineering, 2005, 16(5): 436-439.

[2]Shaik A M, Rao V V S K, Rao C S. Development of Modular Manufacturing Systems-a Review[J]. The International Journal of Advanced Manufacturing Technology, 2015,76: 789-802.

[3]李浩,祁国宁,纪杨建,等. 面向服务的产品模块化设计方法及其展望[J]. 中国机械工程, 2013, 24(12):1687-1695.

Li Hao, Qi Guoning, Ji Yangjian, et al. Service Oriented Product Modular Design Method and Its Prospects[J]. China Mechanical Engineering, 2013, 24(12):1687-1695.

[4]费燕琼,王永,宋立博,等. 网格型自重构模块化机器人的对接过程[J]. 机械工程学报,2011,47(7):31-37.

Fei Yanqiong, Wang Yong, Song Libo, et al. Docking Process of Lattice Self-reconfigurable Modular Robots[J]. Journal of Mechanical Engineering,2011,47(7):31-37.

[5]曹燕军,葛为民,张华瑾.一种新型模块化自重构机器人结构设计与仿真研究[J].机器人,2013,35(5):568-575.

Cao Yanjun, Ge Weimin, Zhang Huajin. Structure Design and Simulation Analysis of an Innovative Modular Self-reconfigurable Robot-360bot[J]. ROBOT, 2013, 35(5): 568-575.

[6]魏洪兴,王田苗.模块化群体机器人构型分析与自组装控制[J].机械工程学报,2010,46(13):100-108.

Wei Hongxing, Wang Tianmiao. Configuration Analysis and Self-assembly Control for Modular Swarm Robots[J]. Journal of Mechanical Engineering, 2010,46(13):100- 108.

[7]Wei Hongxing, Cai Yingpeng, Li Haiyuan, et al. Sambot: a Self Assembly Modular Robot for Swarm Robot[C]//Proceedings of the IEEE International Conference on Robtics and Automation. Alaska,USA,2010:66-71.

[8]Pan Xinan, Wang Hongguang, Jiang Yong, et al. Research on Kinematics of Modular Reconfigurable Robots[C]//Proceeding of the IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems. Kunming,China, 2011:91-96.

[9]闫继宏,郭鑫,刘玉斌,等.一种模块化机械臂的设计与运动学分析[J].哈尔滨工业大学学报,2015,47(1):20-25.

Yan Jihong, Guo Xin, Liu Yubin, et al. The Design and Kinematic Analysis of a Modular Manipulator[J]. Journal of Harbin Institute of Technology, 2015,47(1):20-25.

[10]高文斌,王洪光,姜勇,等.一种模块化机器人的标定方法研究[J].机械工程学报,2014,50(3):33-40.

Gao Wenbin, Wang Hongguang, Jiang Yong, et al. Research on the Calibration for a Modular Robot[J]. Journal of Mechanical Engineering, 2014, 50(3): 33-40.

[11]高文斌,王洪光,姜勇,等.一种模块化机器人的拓扑构型优化[J].中国机械工程,2014,25(12):1574-1580.

Gao Wenbin, Wang Hongguang, Jiang Yong, et al. Topology Configuration Optimization for a Modular Robot[J]. China Mechanical Engineering, 2014, 25(12): 1574-1580.

[12]姜勇,王洪光,潘新安,等.模块化可重构机器人的构形在线自主辨识[J].机械工程学报,2011,47(15):17-24.

Jiang Yong, Wang Hongguang, Pan Xinan, et al. Autonomous Online Identification of Configurations for Modular Reconfigurable Robot[J]. Journal of Mechanical Engineering,2011,47(15):17-24.

[13]刘爽,殷国富,李雪琴,等.可重构模块化工业机器人构形及其静力学分析[J].机械设计与制造,2011(11): 205-207.

Liu Shuang,Yin Guofu,Li Xueqin,et al. Configuration of Industrial Robots Based on Reconfigurable Modularization and Its Statics Analysis[J]. Machinery Design & Manufacture, 2011(11):205-207.

[14]郑红梅,邬亚兰. 6R机器人正运动学分析方法研究[J]. 机械设计与制造, 2014(3):5-7.

Zheng Hongmei, Wu Yalan. Research on Methods of Forward Kinematics Analysis of 6R Robot[J]. Machinery Design & Manufacture, 2014(3):5-7.

[15]赵杰,王卫忠,蔡鹤皋.可重构机器人封闭形式的运动学逆解计算[J].机械工程学报,2006,42(8):210-214.

Zhao Jie, Wang Weizhong, Cai Hegao. Generation of Closed Form Inverse Kinematics for Reconfigurable Robots[J]. Journal of Mechanical Engineering, 2006, 42(8): 210-214.