曲轴搬运上线机械手的设计【CAD+UG图纸】.zip

湖南工程学院 毕毕业业设设计计（论论文文）任任务务书书 设计（论文）题目： 曲轴搬运上线机械手设计 姓名 学院 机械工程 专业 机械设计班级 机设0784 学号 200713090420 指导老师 谭立新 职称 教授 教研室主任 一、基本任务及要求： 任务 1.总体方案设计（平面、三维、爆炸图）要求 1.图纸折合 A0 不少于 3.0 张 2.主要技术参数确定 2.说明书论文少于 1.5 万字 3.搬运线机械手设计 3.独立完成 4. 主要零部件设计 5. 控制系统设计 6. 应用相关合适软件分析研究 二、进度安排及完成时间： 第 1 周：课题熟悉 资料查阅 第 10 周：平面、三维、爆炸图 第 2 周：开题报告 文献综述 第 11 周：控制系统系统设计 第 3 周：拟定总体方案 第 12 周：分析研究 第 4 周：总装图草案、初定主要结构 第 13 周：分析研究及部分程序 第 5 周：机动 第 14 周：说明书（论文）撰写 第 6 周：毕业实习及实习报告 第 15 周：审核 第 7 周：平面、三维、爆炸图 第 16 周：答辩、成绩评定 第 8 周：平面、三维、爆炸图 第 9 周：平面、三维、爆炸图 COMBINATION OF ROBOT CONTROL AND ASSEMBLY PLANNING FOR A PRECISION MANIPULATOOR Abstract This paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot control layer. Experimental results show the feasibility and efficiency of the proposed system. Keywords Manipulator Assembly planning Skill decomposition Automated assembly 1 Introduction Owing to the micro-electro-mechanical systems (MEMS) techniques, many products are becoming very small and complex, such as microphones, micro-optical components, and microfluidic biomedical devices, which creates increasing needs for technologies and systems for the automated precision assembly of miniature parts. Many efforts aiming at semi-automated or automated assembly have been focused on microassembly technologies. However, microassembly techniques of high flexibility, efficiency, and reliability still open to further research. Thispaper researches how to realize the automatic assembly operation on a two-finger micromanipulator. A multi-layer assembly support system is proposed. Automatic assembly is a complex problem which may involve many different issues, such as task planning, assembly sequences generation, execution, and control, etc. It can be simply divided into two phases; the assembly planning and the robot control. At the assembly-planning phase, the information necessary for assembly operations, such as the assembly sequence, is generated. At the robot control phase, the robot is driven based on the information generated at the assembly-planning phase, and the assembly operations are conducted. Skill primitives can work as the interface of assembly planning to robot control. Several robot systems based on skill primitives have been reported. The basic idea behind these systems is the robot programming. Robot movements are specified as skill primitives, based on which the assembly task is manually coded into programs. With the programs, the robot is controlled to fulfill assembly tasks automatically. A skill-based micromanipulation system has been developed in the authors lab, and it can realize many micromanipulation operations. In the system, the assembly task is manually discomposed into skill sequences and compiled into a file. After importing the file into the system, the system can automatically execute the assembly task. This paper attempts to explore a user-friendly, and at the same time easy, sequence-generation method, to relieve the burden of manually programming the skill sequence. It is an effective method to determine the assembly sequence from geometric computer- aided design (CAD) models. Many approaches have been proposed. This paper applies a simple approach to generate the assembly sequence. It is not involved with the low-level data structure of the CAD model, and can be realized with the application programming interface (API) functions that many commercial CAD software packages provide. In the proposed approach, a relations graph among different components is first constructed by analyzing the assembly model, and then, possible sequences are searched, based onthe graph. According to certain criterion, the optimal sequence is finally obtained. To decompose the assembly sequence into robot skill sequences, some works have been reported. In Nnaji et al.s work, the assembly task commands are expanded to more detailed commands, which can be seen as robot skills, according to a predefined format. The decomposition approach of Mosemann and Wahl is based on the analysis of hyperarcs of AND/OR graphs representing the automatically generated assembly plans. This paper proposes a method to guide the skill decomposition. The assembly processes of parts are grouped into different phases, and parts are at different states. Specific workflows push forward parts from one state to another state. Each workflow is associated with a skill generator. According to the different start state and target state of the workflow, the skill generator creates a series of skills that can promote the part to its target state. The hierar