面向猪肉胴体分割的6-DOF混联机器人运动学分析与轨迹规划

发布时间：2018-02-04 16:02

本文关键词： 混联机器人胴体分割运动学工作空间轨迹规划　出处：《哈尔滨商业大学》2017年硕士论文　论文类型：学位论文

【摘要】：胴体分割是生猪屠宰的一道主要工序。传统的人工分割生产效率低、卫生性差;半自动的分割设备不能自动适应生猪大小的变化,也不能根据肉产品的市场需要进行精确分割。随着机器人、机器视觉、无损检测等技术的发展,将机器人应用的生猪屠宰行业,研发高性能的生猪屠宰设备及成套生产线,已成为生猪屠宰行业的一种趋势。论文针对生猪胴体分割的实际需求,构建猪肉胴体自动分割机器人系统,重点开展6-DOF混联机器人的运动学分析和轨迹规划方面的研究,主要研究内容如下:1.针对猪肉胴体精确分割的实际需求,深入分析胴体分割的工序动作、工作空间与分割精度等要求,基于机器人、机器视觉、运动控制等关键技术,构建面向猪肉胴体自动分割的混联机器人系统。2.基于猪肉胴体分割的工艺要求,提出6-DOF混联机器人机构,实现机器人末端分割刀具的六自由度运动。机器人的并联机构基于Delta机构改型,采用线性模组驱动和轻型并联杆机构,实现机器人动平台的三自由度平动。机器人的串联机构采用交流伺服电机驱动,通过空套的齿轮系机构,实现机器人末端的三自由度转动。3.基于6-DOF混联机器人的机构特点,分别开展机器人串联机构和并联机构的运动学分析,建立机器人的综合运动学模型,求解的运动学正解和反解,并利用机械三维软件Solidworks验证了机器人运动学模型。4.分析机器人的运动约束及边界条件,基于随机取样、快速搜索的蒙特卡罗法,开展6-DOF机器人工作空间的分析研究,采用Matlab编程求取了机器人的工作空间。5.基于Matlab的SimMechanics机械运动仿真模块,建立6-DOF机器人的仿真模型,分别开展机器人的关节空间轨迹规划仿真研究与笛卡尔空间轨迹规划仿真研究,求取机器人末端的位置、速度、加速度曲线。
[Abstract]:Carcass segmentation is one of the main procedures of pig slaughtering. Semi-automatic segmentation equipment can not automatically adapt to the pig size changes, nor can the meat products according to the needs of the market for accurate segmentation. With the development of robotics, machine vision, non-destructive testing and other technologies. It has become a trend of pig slaughtering industry to develop high performance pig slaughtering equipment and complete production line. This paper aims at the actual demand of pig carcass segmentation. The automatic segmentation robot system of pork carcass is constructed, and the research on kinematics analysis and trajectory planning of 6-DOF hybrid robot is carried out. The main research contents are as follows: 1. Aiming at the actual demand of pork carcass precise segmentation, the paper deeply analyzes the process action, workspace and segmentation precision of carcass segmentation, which is based on robot and machine vision. Based on the technological requirements of pork carcass segmentation, a 6-DOF hybrid robot mechanism is proposed. The parallel mechanism of the robot is modified based on Delta mechanism, and the linear module is used to drive and the light parallel rod mechanism is used. The robot's series mechanism is driven by AC servo motor, and it is driven by an empty sleeve gear system. Based on the characteristics of the 6-DOF hybrid robot, the kinematics analysis of the robot series mechanism and parallel mechanism is carried out respectively. The synthetic kinematics model of the robot is established, and the forward and inverse kinematics solutions are solved. The kinematics model. 4. The kinematic constraints and boundary conditions of the robot are analyzed. Monte Carlo method based on random sampling and fast search is used to verify the kinematics model of the robot. The research of 6-DOF robot workspace is carried out. The workspace of the robot is obtained by Matlab programming. 5. The simulation model of 6-DOF robot is established based on the SimMechanics simulation module based on Matlab. The joint space trajectory planning simulation and Descartes space trajectory planning simulation are carried out respectively to obtain the position, velocity and acceleration curves of the robot end.
【学位授予单位】：哈尔滨商业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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