Design And Research Of Intelligent Composite Robot System

With the development of science and technology,robots have been widely used in many industries,such as automobile manufacturing industry,electronics industry,etc.,but for the production logistics and packaging of cheese yarn in textile industry,there are some problems such as a low degree of automation,high labor intensity,lack of labor force,etc.In the context,this paper studies the intelligent composite robot designed for sorting and collecting cheese yarns,which is composed of mobile platform and manipulator fixed on the mobile platform.Among them,the manipulator is responsible for grasping cheese yarn prepared by winding machine and placeding on the tray;mobile platform,namely automated guided vehicle which has independent navigation function,is responsible for carrying the manipulator to make change among the stations.The design combines the advantages of mobile platforms and manipulator to enable composite robot to have the ability of moving and operating,applied in textile industry with a low degree of automation innovatively.The composite robot can adapt to the complex working environment,and can be qualified to do difficult task,which is expanding the practicality of the robot and can be applied to more fields in the future.The research contents of this paper are as follows:1.First of all,according to the needs of the production logistics of the cheese yarn in automation,the overall structure of the composite robot has been designed,from mobile platform and manipulator separately.Among them,mobile platform adopts four-wheel differential steering structure in order to improve the carrying capacity and lexibility.For the manipulator,with reference to the relevant information and the actual needs,according to improve the flexibility and reduce the complexity of the control,manipulator adopts joint manipulator with 6 degrees of freedom,whose wrist,namely after three joints,using spherical structure.2.Then,the kinematic model is constructed and the kinematics is analysised for the mobile platform with four wheel differential steering.For the joint manipulator with 6 degrees of freedom,the coordinate system of each joint is constructed by D-H method.The transformation matrix between each coordinate system is established by coordinate transformation principle,and the homogeneous transformation matrix from the base to the end actuator is finally determined.On the basis,the positive kinematics of the manipulator is solved according to the D-H parameter table;finally,the inverse kinematics of the manipulator is obtained by using the algebraic method,which provides the theoretical basis for the later motion control.3.Then,according to requirements about application environment and function of the composite robot,in order to improve the system stability and precision,the servo control system based on the industrial computer + motion control cards is configured in terms of hardware,in which two motion control cards are used to control the mobile platform and manipulator with 6 degrees of freedom separately.In order to improve the control precision and dynamic performance of the motion control system,the fuzzy PID algorithm is studied.By designing the fuzzy PID controller in Matlab/Simulink,the common PID algorithm and the fuzzy PID algorithm are used to simulate the motor control to verify its validity.4.Finally,considering the advantages and disadvantages of various navigation methods,the application environment and the requirements of stability and flexibility of composite robots,it is determined that inertial navigation method is adopted and the magnetic sensor is used to detect the magnetic nails to eliminate cumulative error.In the paper,mixed particle swarm optimization(PSO)is studied by introducing the idea of differential evolution in the standard particle swarm optimization algorithm to keep the population diversity and avoid falling into local optimum.Through the environment modeling and fitness function designing,the global path planning is simulated in Matlab using two different algorithms,and the two optimized paths are compared to verify the effectiveness of the algorithm.Design of obstacle avoidance system based on ultrasonic sensor,the ultrasonic sensors are designed reduce the detection of blind spots through the rational layout,and situations of obstacle avoidance are analysised.