Kinematics Analysis And Trajectory Planning Of 6-DOF Hybrid Robot For Pork Carcass Segmentation

Carcass segmentation is one of the most important processes in pig slaughtering.The traditional manual segmentation is low and poor healthy;Semi-automatic segmentation equipment can not adapt to changes in the size of pigs automatically,and can not segment accurately basing on the needs of the market segmentation.With the development of robotics,machine vision,nondestructive testing technology,the robot applicated into pig slaughtering industry,developing live pig slaughtering equipment with high performance and completing production line,has become a trend of pig slaughtering industry.In this paper,the pig carcass segmentation robot system was constructed for the actual needs of pig carcass segmentation,and research on the robot kinematics analysis and trajectory planning of the 6-DOF hybrid robot.The main research contents are as follows:1.According to the actual demand of pork carcass segmentation,the requirements of the process,the working space and the segmentation precision of the carcass segmentation are analyzed,and the hybrid robot system for automatic segmentation of pork carcass based on robot,machine vision and motion control is constructed.2.Based on the requirement of pork carcass segmentation,the 6-DOF hybrid robot mechanism is proposed to realize the six degree of freedom motion of the robot end cutting tool.The parallel mechanism of the robot is based on the Delta mechanism,which is driving the linear module and the light parallel link mechanism to realize the three degrees of freedom of the robot platform.The robot's series mechanism is driven by an AC servo motor,and the end of the robot's three degree of freedom rotation is realized by the empty gear mechanism.3.Based on the characteristics of 6-DOF hybrid robot,the kinematics analysis of the robot series mechanism and the parallel mechanism is carried out respectively.The kinematic model of the robot is established,the forward kinematics and the inverse kinematics are solved,and the robot's Kinematics model is verified by the mechanical three-dimensional software Solidworks.4.Analyzing the motion constraints and boundary conditions of the robot,the Monte Carlo method based on random sampling and fast search is used to study the working space of 6-DOF robot.The working space of the robot is obtained by Matlab programming.5.Based on Matlab SimMechanics mechanical motion simulation module,the simulation model of 6-DOF robot is established.The simulation study of joint space trajectory planning and the Cartesian space trajectory planning are carried out respectively,and the position,velocity and acceleration curve of the robot are obtained.