The Study Of Glass Stacking System Based On Robot

With the development of economy, the progress of science and technology ofrobot is widely used in the production and life, improving the automation ofmanufacturing and production efficiency. There is the robot online stacking glassintelligent control system which based on the industrial robot as the research object,through the design of terminal actuators, adding the robot vision pneumatic controlcircuit and the corresponding intelligent control system to complete glass on-linestacking. The study on the one hand can reduce the labor intensity of workers andimprove production efficiency, on the other hand can promote the rapid developmentof the automatic glass production.The structure of the sucker frame is designed based on the size of the glass. Thesuckers and vacuum generator are selected according to the calculation of bearingcapacity of the end of robot. The design of pneumatic control circuit is based on thecharacteristics of the glass stacking. The design of sucker frame and the pneumaticcontrol circuit system are completed.On the analysis of the robot body structure, using the d-h method establishes theD-H coordinate system. The technical parameters of the robot are the source of the D-H parameters. The robot kinematics equation is established by the connecting rodbetween the adjacent homogeneous coordinate transformation matrixes. The inversekinematics equation of robot is obtained by using separation of variables in numericalsolution for inverse solution of kinematics. The forward and inverse kinematicsequations and completed solution are established. According to the analysis ofadvantages and disadvantages of the trajectory planning the robot and Cartesiancoordinates, the trajectory planning of robot stacking glass system uses threepolynomial interpolation methods to interpolate then calculate to obtain the shortestpath of Stacking glass in joint space. The robot vision is added in the glass productionline, according to glass image acquired by machine vision, using computer image processing technology to extract the glass center point position, so as to realize the on-line grab glass. Robot model established.In the Matlab software, the model of the robot is established and the robotkinematics equation is calculated and verified. Programming the control programsimulates the whole process of robot stacking glass and draws the curve ofdisplacement, velocity and acceleration. In the Matlab software, the robotic tool isused to verify the correctness of the kinematics and trajectory planning. Finally, therationality and validity of the trajectory planning is verified by the experiment.