二指平动抓手设计及其立式仓储搬运轨迹规划设计（范文）.docx

摘 要 机器人被广泛应用于各行各业。机器人的发明大大减少了劳动力和物力的浪费，加快了企业生产速度，节约企业的生产成本。本文在使用ABB IRB 120机器人的基础上，本文结合国内外与其有关的研究成果，通过二指平动抓手实现物料的自动化搬运及立式仓储。 所做的具体工作如下： （1）对工件夹持时的夹紧力的力学分析开展学习，了解了工件被搬运时所需的夹紧力，以此为前提选型二指平动抓手并设计机械手指和手爪与ABB IRB 120机器人连接的连接件 （2）运用RobotSTtudio 软件离线编程ABB IRB 120机器人。创建工作站后，导入三维模型，在机器人系统中利用SMART组件、目标点等离线编写程序，实现机器人对圆形零件的抓取、搬运和放下。 （3）利用有限元分析软件对机械手的一些重要部件做了适当的力学分析。根据结果可以看出，所测部件的力学性能都能够符合要求，表明之前的设计是符合要求的。 关键字:二指平动抓手 轨迹规划 有限元分析 Abstract Robots are widely used in all walks of life. The invention of robot greatly reduces the waste of labor and material resources, speeds up the production speed and saves the production cost of enterprises. Based on the use of ABB IRB 120 robot, this paper combined the relevant research results at home and abroad to realize the automatic material handling and vertical storage through two-finger translation gripper.The specific work done is as follows: (1) studied the mechanical analysis of clamping force when the workpiece is held, understood the clamping force needed when the workpiece is carried, and designed and studied the two-finger translation gripper and its connection with ABB IRB 120 robot on the premise of this (2) ABB IRB 120 robot was programmed offline with RobotSTtudio software. After the workstation is created, the 3d model is imported, and the SMART components, target points and other offline programs are programmed in the robot system to realize the robots grasp, handling and lowering of the circular parts. (3) The mechanical analysis of some important parts of manipulator is done by using finite element analysis software. It can be seen from the results that the mechanical properties of the components can meet the requirements, indicating that the previous design is in line with the requirements. Key words: Two-finger translation grip Trajectory planning Finite element analysis 目 录 TOC \o 1-3 \h \z \u 第一章 引言 1 1.1课题背景及意义 1 1.2搬运机器人国内外研究现状 2 1.3本论文的主要研究内容 3 第二章 ABB IRB120机器人 4 2.1ABB公司简介 4 2.1IRB 120型