Installation And Path Plan Of Dual Robotic Arm In Loading And Unloading System

At present, in the machining field, some new and active industrial robots appear,and develop. Appliance area of machining robots is wide, maintenance, repair, transport,welding, quality control and so on. Dual arm robot as important industrial robotsalready into the actual industrial production, the robotic arm can completely do the hardand complicated work, thus freeing mankind from the simple and repetitive manuallabor.The structure of the dual robotic Loading and Unloading Material Systemdetermine the performance of the actual work of the entire system. The system which becomposed of robotic arm installed in the analog trunk, and the user-friendly controlinterface, has some feature of lighter, smaller, and the appearance of fine, largeworkspace and so on can be efficient instead of manpower to complete the process ofloading and unloading. Six degrees of freedom series manipulator with a combination ofmachine tools, conveyors, and the end of the actuator, so that it can meet theengineering and the actual production. This passage combined with kinematics andmanipulability study the robotic arm mounted on analog trunk. The content as below:Firstly, decide proper DOF and joint structure of the robotic arm, chose propertransmission project and whole architecture for the arm according to the high rigidityand large work space. Combined the architecture theory, analysis and design thefunction architecture of the robotic arm. It includes the gripper, wrist, small arm, bigarm, the base and so on. The whole structure of arm is select with considering theweight and volume of the arm。Secondly, the analysis, the kinematics of the robot manipulator kinematics model.According to the law manipulator direct kinematics and inverse kinematics solution,and vector integration method to derive the manipulator Jacques than the matrix, the useof kinetic theory to draw the workspace of the manipulator. The combination of workspace on the boom and arm rod length argument size integrated to get the better of therod length parameter.Again, the research performance of the manipulator manipulability and robotperformance in barrier capacity as a research object, combined with the concept of therobotic arm obstacle avoidance to analyze the entire system, obstacle avoidancecriterion, while the establishment of environmental model arm robot model and the actual environment model under the conditions of the optimal path, and then selected bythe genetic algorithm, this path can be used for actual operation and robot-drivenprogramming.Finally, according to the arms of the robot control system and hardware systems,the control module. And then based on the actual conditions combined with VAL3preparation of the process control system, connect the mechanical parts of thecommissioning, and on this basis, some experimental validation.