Research Of Linear Delta And Three Degree Of Freedom Robot Sorting Line

The sorting robot is a kind of artificial intelligence robot which has certain perception ability and can classify objects.In the sorting industry,it not only reduces the labor input,but also improves the efficiency of the sorting industry.This paper studies a production line consists of Delta robot and robot with three degrees of freedom,calculate the positive and inverse solution by MATLAB and simulated by Solid Works Lab VIEW software,through the visual processing function and communication function and axis card drive function,control servo motor rotation to reach the end along a prescribed trajectory.To realize the function of visual sorting.The main contents include:First of all,the production line is designed by Solid Works,by the method of geometrical analysis and inverse solution of robot trajectory planning,and simple(circle planning,line planning),the working space of the robot using MATLAB drawing function analysis,and the trajectory planning with MATLAB coordinates of points into Solid Works,Solid Works the function of animation simulation of robot motion animation.Then,the interface of the operating system of three degrees of freedom robot and the production line is designed by using Lab VIEW software,and introduces the method of using the operating system,including automatic control and manual control of the two modules,while demonstrating teaching,calibration,move the three functions.At the same time,introduced the realization method of robot vision module,including detailed visual equipment,introduces the software used by the visual system,visual software provided by the manufacturer and the combination of Lab VIEW,visual software obtained by calculating the workpiece position,will transfer the workpiece position information to the Lab VIEW,and then calculate the next step how the robot moves according to the information.Finally,combining the motion control software and the robot,the robot's zero calibration,teaching work,camera images to determine the workpiece starting position,according to the rotation speed of the conveyor belt,calculation of workpiece reaches the location of the time;according to the robot position and the terminal velocity,the starting time of computing end movement.Reached when the workpiece reaches the location,the end can arrive station to open at the same time,the cylinder,the robot will eventually realize the workpiece grasp,sorting robot vision.