畢業(yè)論文：基于catia六自由度焊接機(jī)械手三維設(shè)計(jì)(已修改)
2024-11-23 23:13 本頁面
【正文】 1 畢 業(yè) 設(shè) 計(jì) 基于 CATIA六自由度焊接機(jī)械手三維設(shè)計(jì) 系 別： 機(jī)械與汽車工程系 專 業(yè) 名 稱： 機(jī)械設(shè)計(jì)制造及自動(dòng)化 完成日期 ： 2020 年 3 月 1 日 摘要 2 本文 以六自由度焊接機(jī)械手部的三維運(yùn)動(dòng)仿真為背景。 介紹了國內(nèi)外焊接機(jī)器人的發(fā)展?fàn)顩r并著重分析了六自由度焊接機(jī)械手運(yùn)動(dòng)原理和三維制圖軟件 CATIA的應(yīng)用，在此軟件基礎(chǔ)上對(duì)手部進(jìn)行了繪制，運(yùn)動(dòng)分析和動(dòng)畫模擬。對(duì)于 CATIA制圖軟件主要介紹了其產(chǎn)生和發(fā)展的歷史以及應(yīng)用前景，具體介紹 了零件三維制圖的操作方法和運(yùn)動(dòng)過程，展示了 CATIA強(qiáng)大的運(yùn)動(dòng)仿真功能。 重點(diǎn)分析了六自由度機(jī)械手的三維建模和建模后運(yùn)動(dòng)軌跡規(guī)劃的實(shí)現(xiàn) 關(guān)鍵詞 ： CATIA 。 三維運(yùn)動(dòng)仿真 。 三維運(yùn)動(dòng)模擬 。 動(dòng)畫模擬 Abstract In this paper, welding robot of six degrees of freedom of hand motion simulation for the threedimensional background. Welding robot at home and abroad and focus on the development of analysis of the welding robot of six degrees of freedom of hand movement and threedimensional mapping principle CATIA software applications based on this software in the department of drawing opponents, motion analysis and animation simulation. Mapping software for CATIA introduces the emergence and development of its history and application specific parts introduced the method of operation of threedimensional graphics and motion simulation of the operation of plugins COSMOSMotion process, demonstrated the powerful movement CATIA simulation. Analysis focused on the six degrees of freedom robot arm modeling of threedimensional modeling and trajectory planning, after the realization of Key words: :CATIA 。 cosmosmotion 。 simulation of 3D motion 。 Animated Simulation 目錄 3 摘要 .......................................................................................................... Ⅰ 前言 ............................................................................................................ 1 第 1 章 焊接機(jī)器人概述 ........................................................................... 2 焊接機(jī)器人的發(fā)展 ...................................................................... 2 國外焊接機(jī)器人的發(fā)展 .................................................. 2 國內(nèi)焊接機(jī)器人研究的歷史及現(xiàn)狀 .............................. 3 焊接機(jī)器人應(yīng)用現(xiàn)狀 ...................................................... 3 焊接機(jī)器人的發(fā)展趨勢 .................................................. 4 焊接機(jī)械手的組成、分類 .......................................................... 4 組成 ................................................................................. 4 分類 ................................................................................. 6 基本型式 ...................................................................................... 7 直角坐標(biāo)式機(jī)械手 ......................................................... 7 圓柱坐標(biāo)式機(jī)械手 ......................................................... 7 關(guān)節(jié)式機(jī)械手 ................................................................. 8 第 2 章 計(jì)算機(jī)輔助設(shè)計(jì)和 CATIA 軟件的發(fā)展 .................................... 9 計(jì)算機(jī)輔助設(shè)計(jì)的發(fā)展 .............................................................. 9 軟件的特點(diǎn)及前景 ...................................................................... 9 COSMOSMotion 的應(yīng)用及特點(diǎn) .................................................10 第 3 章 焊接機(jī)械手的設(shè)計(jì)思想 ..............................................................12 機(jī)械手特性方程式 .....................................................................12 手臂的設(shè)計(jì)計(jì)算 .........................................................................14 驅(qū)動(dòng)力的計(jì)算 ..................................................................14 水平回轉(zhuǎn)時(shí)驅(qū)動(dòng)力矩的計(jì)算 ...........................................14 偏重力矩的計(jì)算 ..............................................................15 焊接機(jī)械手各零部件的設(shè)計(jì) ............................................16 第 4 章 三維實(shí)體建模 ..............................................................................25 模擬方案的確定 .........................................................................25 仿真實(shí)體的繪制 .........................................................................26 簡單數(shù)學(xué)模型的建立 .................................................................26 模擬加載與仿真 .........................................................................28 仿真模擬的實(shí)現(xiàn) ..............................................................28 進(jìn)行運(yùn)動(dòng)校核 ..................................................................30 結(jié)語 ......................
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