工业机器人设计中的人机工程考虑因素分析与应用研究

工业机器人在当前生产领域有着越来越关键的地位,而机器人设计的过程中,人机工程的思考显得至关重要, 对此提升工业机器人的工作效能以及安全性有着莫大的效果。关于这篇研究,首先从人机工程在工业机器人设计中的关键思考因素对其进行了完全化的分析,主要包含机器人的工作环境、人体的尺寸和姿态,以及使用者的感知能力和反应速度。根据研究也进行了相关的实验,更进一步探索这些因素在现实使用中的作用。实验结果表明,恰当地引入人机工程的考虑因素,不仅能够提升工业机器人的工作效能和质量,还有效减轻了操作者的劳累程度,降低了潜在的工作风险。此外,研究通过对工业机器人人机工程设计优化案例的探讨,得出了一套有效的设计优化原则与方法,利于工业机器人的推广与应用。这一研究,不仅为进一步优化工业机器人设计提供了科学的理论支撑,同时也能够对实际工业生产中机器人的使用带来积极的指导意义。

“三维CAD设计”课程中引入工业机器人设计项目的教学实践

“中国制造2025”背景下制造业的转型升级需要设计开发工业机器人本体和关键零部件。然而,“三维CAD设计”作为一门面向机械类专业开设的工程技术性、实践性较强的专业基础课,课程目标是让学生在理解画法几何和机械制图的基础上,掌握各类典型零件的造型、各种典型机械结构的装配以及根据三维造型生成零件图和装配图,课程目标与工业机器人关联度极低。因此,在分析“三维CAD设计”课程教学现状的基础上,提出遵循兴趣、引导、多样、相关、独立、创新原则设计教学方案,在“三维CAD设计”课程中引入工业机器人设计项目。通过在“三维CAD设计”课程中引入“机器人核心零部件——摆线针轮减速机的零件造型与结构装配”“串联机器人——码垛机器人的设计”“并联机器人——Delta机器人的设计”“特种机器人的设计与工业机器人创新设计”等项目,激发学生的学习兴趣,引导学生利用课余时间主动学习课外知识,增强学生的实践能力,拓宽学生的知识面和就业面,为后续培养从事工业机器人设计制造行业的高技能人才奠定基础。

基于OpenGL的工业机器人设计三维实体专用软件开发

根据文献[1]提出的理论和算法,开发一种用于工业机器人本体设计的专用软件Robot-Manipulator。Robot-Manipulator为工业机器人的原始创新设计提供了一种快捷的工具。软件以VC++作为开发平台,以OpenGL为图形内核。主要介绍该软件的基本界面开发、建立工业机器人手臂和关节的三维模型、机器人的组装方法、以及机器人模型的基本运动的动画实现。

工业机器人设计平台系统集成体系结构研究

针对目前工业机器人开发周期长、设计研发集成水平不高、研发关键流程不连续的现状,围绕着工业机器人正向设计研发的需求,基于先进的计算机辅助设计、静力学分析、动力学分析软件,结合工业机器人数字化设计平台的体系结构和设计流程中的具体特点,对工业机器人数字化设计平台设计流程、参考体系结构、集成数据等内容进行了研究,并提出了工业机器人设计平台的体系结构设计方案,该方案覆盖了工业机器人设计过程中用户需求分析、概念设计、结构设计、模型验证、仿真分析等多个关键步骤,该平台方案可以提高工业机器人的设计过程的数字化和智能化水平,对于工业机器人设计开发平台的研发具有参考作用。

工业机器人本体动力学仿真分析方法浅析

该文主要对工业机器人研发设计过程中的动力学分析方法进行介绍。采用虚拟样机分析,利用SolidWorks软件中的Motion模块进行本体动力学分析,通过输入关节角速度曲线得到关节转矩等数据,从而校核关键部件减速机和电机的选型。为机器人本体设计提供准确的选型依据,达到缩短本体设计时间、降低成本的目的。

Design of Calibration Experiments for Identification of Manipulator Elastostatic Parameters

The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.

Design of Industrial Robotic Controller Based on DSP

This paper describes the design of industrial robot controller based on the DSP technology. Robotic real time control is realized by PC and DSP motion control card and this method improves the performance of robotic controller. Finally this paper gives some experiment results and conclusion.

Adaptive Robust Control for an Active Heave Compensation System

Active heave compensation systems are usually employed in offshore and deep-sea operations to reduce the adverse impact of unexpected vessel’s vertical motion on the response of underwater instruments.This paper presents a control strategy for an active heave compensation system consisting of an electro-hydraulic system driven by a double rod actuator,which is subjected to parametric uncertainties and unmeasured environmental disturbances.Adaptive observer and discontinuous projection type updating law with bounded adaption rate are presented firstly to estimate the uncertain system parameters.Then a similar estimation algorithm is designed by using a multiple delayed version of the system to enhance the performance of parameter observation.A reduced order observer is also introduced to estimate unknown wave disturbances.Using the obtained uncertainty information,the resulting control development and stability analysis are implemented based on the Lyapunov’s direct method and back-stepping technique.The proposed controller guarantees the heave compensation error convergent to a bounded neighborhood around the origin.Simulations illustrate the effectiveness of the proposed control system.