Research On The Key Technology And Development Of JNPSR-I Parallel Sorting Robot

To raising the degree of automation in production, guarantee the product quality, enhance the working efficiency, and to meet the requirements of safety & health condition in light related industry, a small, light, efficiency and automatic mechanism is required, on account of all these requirements, considering that robot has been become main force in industry, at the same time, compared to serial robot, parallel robot has many advantages, such as high speed, high precision, and so on. So it is meaningful to research and develop a parallel robot.According to the actual demand, design and development a Parallel Sorting Robot(JNPSR-I). And then, on the basis of the research on Delta parallel robot by predecessors, aim at solving the key problems of JNPSR-I in the practical application, after referring to relating documents and researching, some of these technical difficulties are solvedAfter analysising of JNPSR-I, propose the basic design scheme, and then, completed the experimental sample, on this basis, via kinematics analysis, forward and inverse solution displacement are obtained, and then get the Jacobi matrix, so the forward and inverse velocity and acceleration are can be obtained by the Jacobi matrix; at the same time, the correctness are validated by Adams simulation.The workspace of JNPSR-I is obtained via numerical simulation; and then analysis the influence of the structural parameters to workspace;research the maneuverability of JNPSR-I in workspace while analysising the singularity, at the same time, carry out a method of structural optimization.According to the feature of JNPSR-I, adding visual system, and then carry out a 4-axis control system, which combine 4 modules:image processing, coordinate conversion, solution and I/O, in which the coordinate conversion is based on inverse solution. In this control strategy, a reasonable method of Motion control is proposed, on this basis, via experiment, obtained the relationship between camera coordinate and robot coordinate; at last, propose a method to measure JNPSR-I's accuracy of repetition by the visual system.