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南京理工大學泰州科技學院
畢業(yè)設計說明書(論文)
作 者:
錢瑞
學 號：
0501510131
系 部:
機械工程系
專 業(yè):
機械工程及自動化
題 目:
集裝箱波紋板焊接機器人機構
運動學分析及車體結構設計
助教
吳晟
指導者：
評閱者：
2009 年 6 月
畢業(yè)設計說明書（論文）中文摘要
隨著工業(yè)水平的發(fā)展,重要的大型焊接結構件的應用越來越多,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器人、大型艦船艙體、甲板的焊接、大型球罐(儲罐)的焊接等。而這些焊接場合下，焊接機器人要適應焊縫的變化，才能做到提高焊接自動化的水平。無疑,將機器人技術和焊縫跟蹤技術結合將有效地解決大型結構件野外作業(yè)的自動化焊接難題。因此機器人的設計對于解決這一難題至關重要。
本課題主要完成機器人運動學的逆解、車體的總體設計、電機的選擇等方面。主要從機器人運動學逆解的角度完成一個周期內(nèi)的運動學逆解，求出三個關節(jié)應按照什么運動規(guī)律進行運動，還有三個關節(jié)的運動之間的函數(shù)關系，進而完成對整個機器人的總體設。通過對小車的受力分析完成對車輪、車體的設計。根據(jù)實際操作中遇到的問題對完成對電機的選擇。最后對所選的齒輪進行校核，使之能完成具體的操作要求。
關鍵詞 機器人技術 機構設計 運動學逆解 強度校核
畢業(yè)設計說明書（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