The Application Of Three Degrees Of Freedom Parallel Manipulator In The Product Detection

With the rapid development of China’s Pharmaceutical industry, the amount of demand for the drug loaded bottle is also greatly increased, meanwhile, the quality requirements are also more stringent. Traditional manual method of quality inspection has been unable to meet the requirements of industrial production. So automatic detection of the bottle is a trend of development.According to the actual requirements of grasping and placing in the detection process, the three degree of freedom parallel manipulator based on machine vision has been applied. In the systerm, the 3-DOF parallel anipulator based on the machine vision which has been designed and tested. The specific work of this paper is summarized as follows:1) First of all, the working principle of the 3-DOF Parallel Manipulator has been introduced in details. The position inverse solution model, velocity model and acceleration model of the parallel manipulator have been established. Motion trajectory has been planned and simulated.2) The combined visual modeling method uses MATLAB, SolidWorks and ADAMS analysis software to model and simulate. The change range of the motor torque of the driving arm are calculated by MATLAB software, which lay the foundation for the subsequent studies of the selection of servo motor.3) For the prototype manufacturing, the various electrical equipments are selected and the design is further improved.4) Based on the function of the machine vision of NI company VBAI and Lab VIEW software, visual positioning experiment has been carried out. By comparing the two methods, the correctness of the Visual positioning scheme has been verified.5) On the basis of theoretical calculation and simulation, the design of control software and communication scheme of PC software are carried out. The control software has the function of path planning, trajectory monitoring and communication function. The prototype of the 3-DOF parallel manipulator and the two degree of freedom parallel manipulator have been developed, and the comparison between theoretical data and actual measurement data have been carried out to verify the feasibility and accuracy of the control algorithm.6) In order to improve the performance of the manipulator, the three degree of freedom parallel manipulator prototype has been optimized. The optimized prototype has been produced.