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Research on the Key Technology and Development of JNPSR-I Parallel Sorting Robot

Author: ChenZhongJie
Tutor: ZhangQiuJu
School: Jiangnan University
Course: Mechanical and Electronic Engineering
Keywords: Parallel mechanism Kinematics Workspace Manipulability Sorting robot
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 84
Quote: 1
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Abstract


To improve the degree of automation of production to ensure product quality, improve work efficiency as well as safety, health and other aspects of the requirements for the operation object volume light industry, food, medicine and other industries, the need for a small, light weight, and can efficiently , automated sorting action agencies. In response to these conditions, refer to modern automated equipment, robotics applications has become mainstream. Relative to serial robots, parallel robots are more obvious advantages in speed, accuracy. Thus the development of a set of economic, efficient parallel sorting robot, both theoretical significance, but also has practical value. Actual demand, the subject of design research and development the parallel sorting the robot JNPSR-I. JNPSR-I robot in the practical application of some of the key issues and theoretical research on the basis of the former Delta parallel mechanism specific research and analysis to solve some technical difficulties. Robot institutions JNPSR-I basic institutional programs, as well as design, assembled mechanical mechanism; on this basis, through kinematic analysis of the position, the positive and negative solution expression than the matrix, derived from the Jacques get the speed and acceleration of the positive and negative solution expression; checking the reliability problems of positive and negative solutions while checking the correctness of solving by Adams. Solving reachable workspace with a numerical simulation method, and analyzed the link parameters JNPSR-I robot up space; analysis Singularity, Jacobian matrix condition number up to space agencies the issue of flexibility, and the Jacobian matrix conditions and positive solutions results, the method proposed to optimize the structure of the robot institutions JNPSR-I. According to the operating characteristics of the manipulator JNPSR-I added visual aids, development of the visual recognition processing module. Design and development of a four-axis control system of the robot platform JNPSR-I based on VC. The platform consists of four modules (visual processing module, coordinate conversion module, solving modules, and I / O), including the theoretical basis for solving computing module from the inverse solution. Control strategy, a more reasonable campaign strategy is proposed for efficient sorting requirements; obtained by experimental means, on this basis, the conversion relationship between the camera coordinate system and the machine coordinate system, and the needle robot semi-closed loop characteristics of the visual system detects sorting robot positioning repeatability precision method, and do the analysis.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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