Industrial Applications With Collaborative Robots Synchronous Towards A Methodology To Build Robotic Manufacturing System

With the development of technology and economy,such as steam turbine blades,automobile wheels and artificial joints and other complex surface of the application of the workpiece gradually become wide,its surface quality requirements are also increasing.At present,most of the domestic manufacturers for the complex surface polishing with ordinary machine combined with artificial grinding,this processing methods of labor intensity,processing yield is low,and the processing environment is bad,great harm to the human body.Kunshan City in Jiangsu Province in 2014 Kunshan Zhongrong Metal Products Co.,Ltd.occurred in the major aluminum dust explosion,the day caused 75 deaths,185 people were injured,that is,an example of the damage caused by dust.In order to achieve automatic pickup,and in accordance with the needs of different parts,this work designed a dual-arm with the system to achieve single-arm pick,another robot arm for automatic task.As a result of the research,the path planning,model design and controller design of the dual-manipulator are carried out.The cooperation and assembling of the dual manipulator are completed,and the effective algorithm verified by an experiments.In order to reduce the influence of dust on the human body and improve the surface quality of the processing,especially the surface quality of complex surfaces,this work studies the automatic polishing system.The work as follows:1)Automatic teaching system instead of conventional method(manually)to provide the continuous path of the attached polishing tool according to the work-piece's free-form shape has been designed.2)Machine vision system is developed to identify polishing system can determine the workpiece on the table shape,size,color information,according to the information on the workpiece classification,and results output to the PLC controller,resulting in the corresponding polishing paths.The use of the algorithm reduces the operating time of the polishing system and enhances the system process flexibility.The validity of the algorithm verified by simulation and experimental results.