机械5

基于并联机器人自动分拣装置的结构设计与分析 摘要 我国目前的经济发展速度飞快，与之而来的劳动力成本与生产的效率要求也在不断地提升，生产线中的分拣系统是自动化生产线中相当重要构成部分，为了符合目前的要求，其必须具有高速，高精度，智能化等一系列特点。在其中并联机器人是最符合上述要求的机器人，所以并联机器人在自动化生产线以及分拣系统中的应用十分的可观。 为了适应目前的工业需求，本设计了具备多种规划途径以及拾取选择的分拣装置。对此分拣系统进行结构的设计与分析。 本优先设计了并联机器人自动分拣装置的结构以及主要工作方式，详细介绍了分拣系统的工作原理与优点。在工业生产活动中，分拣系统针对不同的情况有不同的路径要求。本文针对这些路径要求主要设计了空间直线、与空间圆弧等轨迹的算法；运用抛物线函数以提升运动轨迹的稳定性，并对产品的轨迹进行了优化。 最后进行实验操作分拣系统的分拣过程，结果分析得到，第一，末端执行器可以按照人为规划的所有轨迹进行相应的运动。并且能够按照人为的要求准确的完成对产品的抓取和投放；第二，我们看到在分拣系统的分拣过程中，末端执行器在不同段落的轨迹运动中，其过渡非常平稳，没有出现任何卡顿现象。第三，系统可以自动判断物件位置并进行筛眩通过最大的效率来保证一次性抓取和投放多个物件，大大加快了生产效率。 关键词：并联机器人；分拣装置；轨迹途径 Abstract With the rapid eco
nomic developme
nt i
n our cou
ntry, the cost of labor a
nd the efficie
ncy of productio
n are co
nsta
ntly improvi
ng. The sorti
ng system i
n the productio
n li
ne is avery importa
nt part of the automatic productio
n li
ne. I
n order to meet the curre
nt requireme
nts, it must have a series of characteristics such as high speed, high precisio
n a
nd i
ntellige
nce. Amo
ng them, parallel robot is the most suitable robot, so the applicatio
n of parallel robot i
n automatic productio
n li
ne a
nd sorti
ng system isvery co
nsiderable. I
n order to meet the curre
nt i
ndustrial
needs, this paper desig
ns a sorti
ng devicewith multiple pla
n
ni
ng approaches a
nd pick-up optio
ns. The structure of the sorti
ng system is desig
ned a
nd a
nalyzed. This paper gives priority to the desig
n of the structure a
nd mai
nworki
ng mode of the parallel robot automatic sorti
ng device, a
nd i
ntroduces theworki
ng pri
nciple a
nd adva
ntages of the sorti
ng system i
n detail. I
n i
ndustrial productio
n activities, the sorti
ng system has differe
nt path requireme
nts for differe
nt situatio
ns. Accordi
ng to these path requireme
nts, this paper mai
nly desig
ns the algorithm of space straight li
ne, space arc a
nd other tracks, uses parabola fu
nctio
n to improve the stability of the motio
n track, a
nd optimizes the product track. Fi
nally, the sorti
ng process of the experime
ntal operatio
n sorti
ng system is carried out, a
nd the results are a
nalyzed. First, the e
nd actuator ca
n move accordi
ng to all the trajectories pla
n
ned by huma
n. I
n additio
n, it ca
n accurately grasp a
nd release the products accordi
ng to the huma
n requireme
nts; seco
ndly,we ca
n see that i
n the sorti
ng process of the sorti
ng system, the tra
nsitio
n of the e
nd actuator i
n the track moveme
nt of differe
nt paragraphs isvery smooth,without a
ny jammi
ng phe
nome
no
n. Third, the system ca
n automatically determi
ne the locatio
n of objects a
nd filter them. Through the maximum efficie
ncy to e
nsure a o
ne-time grab a
nd drop multiple objects, greatly speedi
ng up the productio
n efficie
ncy. Keywords: Parallel Robot; Sorti
ng equipme
nt; Track approach 目录 摘要1 Abstract 2 引言1 1、绪论2 1.1选题的依据及意义2 1.1.1选题的依据2 1.1.2选题的意义3 1.2国内外研究现状及发展趋势3 1.2.1国外研究现状及发展趋势3 1.2.2国内研究现状及发展趋势4 1.3本课题研究内容及要求4 1.3.1研究内容4 1.3.2设计要求5 2、构建系统框架6 2.1并联机器人自动分拣装置课题研究方案6 2.2结构及附图6 2.2技术效果说明9 3、并联机器人运动学建模与分析10 3.1机构分析10 3.2坐标系的建立11 3.3位置正解逆解分析11 4、末端轨迹部分14 4.1末端轨迹规划14 4.2末端运动轨迹分析14 4.2.1直线轨迹规划16 4.2.2空间圆弧轨迹规划18 5、总结20 参考文献21