基于工业机器人玻璃在线堆垛系统的研究

发布时间：2019-04-25 08:59

【摘要】：本文在深入了解国内外玻璃在线堆垛行业发展的基础上，结合现有智能堆垛机械手，设计了一套基于工业机器人的玻璃在线堆垛系统，并对系统进行运动学分析及轨迹规划，最终实现玻璃在线堆垛作业。首先根据系统作业类型，设计系统末端执行器。末端执行器是系统执行部件，根据玻璃在线堆垛作业类型设计末端执行器，即吸盘架。根据吸盘架吸附玻璃重量、尺寸等具体条件设计气路系统；根据玻璃在线堆垛系统的具体工作情况和实际要求，选取了真空发生器等系统关键部件，最终完成系统的搭建。用Pro/E软件建立了工业机器人系统的三维实体模型，根据关节空间关系坐标系，建立D-H模型，计算得到6个关节坐标变换矩阵，求出相邻连杆的坐标变换通式，从而求出正向运动学方程；在正向运动学求解的基础上，运用解析法求解了逆向运动学问题，并对多解性作了分析；在关节空间中，采用三次多项式函数法对机器人的轨迹进行了规划，对玻璃堆垛过程中经过的关键点进行三次多项式拟合，得到各个运动轴的驱动函数，从而完成系统的轨迹规划。在Pro/E Mechanism模块中对三维实体模型添加驱动和驱动参数，根据运动学求解结果及系统轨迹规划曲线进行运动学仿真，，同时模拟了规划轨迹的全过程，并对这一过程进行了运动学分析，最后用实验验证了轨迹规划合理性以及可行性。该项研究的意义在于提高工业机器人系统的工作效率、为系统编程提供数据以及为操作工业机器人系统提供理论指导。
[Abstract]:On the basis of deep understanding of the development of glass online stacking industry at home and abroad, combined with the existing intelligent stacking manipulator, a set of on-line glass stacking system based on industrial robot is designed, and the kinematics analysis and trajectory planning of the system are carried out. Finally, glass on-line stacking operation is realized. First of all, according to the job type of the system, the end actuator of the system is designed. End Actuator is a part of system execution. According to the type of glass on-line stacking, the end Actuator is designed, I. E., sucker holder. The air circuit system is designed according to the specific conditions of absorbing glass weight and size on the suction tray, and according to the concrete working conditions and practical requirements of the glass on-line stacking system, the key components of the system, such as vacuum generator, are selected, and the system is finally built. The three-dimensional solid model of industrial robot system is established by using Pro/E software. According to the joint spatial relation coordinate system, the D-H model is established. Six joint coordinate transformation matrices are calculated, and the general formula of coordinate transformation of adjacent links is obtained. Thus, the forward kinematics equation is obtained. On the basis of solving forward kinematics, the inverse kinematics problem is solved by analytic method, and the multi-solution is analyzed. In the joint space, the trajectory of the robot is planned by the cubic polynomial function method, and the key points in the glass stacking process are fitted with cubic polynomials, and the driving functions of each moving axis are obtained. As a result, the trajectory planning of the system is completed. In the Pro/E Mechanism module, the driving and driving parameters are added to the three-dimensional solid model. According to the results of kinematics solution and the trajectory planning curve of the system, the kinematics simulation is carried out. At the same time, the whole process of the planning trajectory is simulated. Finally, the rationality and feasibility of trajectory planning are verified by experiments. The significance of this research is to improve the efficiency of industrial robot system, to provide data for system programming and to provide theoretical guidance for the operation of industrial robot system.
【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH24;TP242.2

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