Ceramic Tile Robot Ontology Design And Function Research

As the rapid development of China's construction of interior decoration industry and high-end intelligent manufacturing equipment industry,the demand for building robots also become more intense.This paper designed a kind of ceramic tile robot,six degrees of freedom for the ontology structure and kinematics and trajectory planning to conduct the research.Content mainly includes the following several parts:(1)After studying the similar building robots at home and abroad on the basis of the design chose the structure of the robot,this research used a simple and effective method in engineering to choose the configuration of the robot.Offset structure is used to the big arm,effectively expand the robot workspace.Through the analysis of statics analysis combined with UG software measurement function,analysis of the drive.Further introduces the form of the robot's driving scheme including the layout of the motor.Based on the work of the robot need to design the structure of robot end actuators,pneumatic principle are introduced.and chose the parameters of the vacuum cup.(2)Detailed discussion of the mathematical basis of robot kinematics,and gives the robot kinematics equation formula.Using DH method to establish a link of the robot coordinate system,On this basis,derived forward and inverse kinematics solution.Use Robotics Toolbox and Matlab programming of the robot kinematics simulation visualization positive solution of the equation derived inverse correctness.Each robot directly reflects the relationship between the end of the joint variables pose matrix.Finally,using the Monte Carlo method and Matlab programming,analysis of tiling work space robot The simulation can clearly see the robot workspace determine whether there are voids and cavities,provide the basis for the scope of work to get the correct robot.(3)This paper briefly introduces the ceramic tile of the robot working process and ceramic tile position detection method,and ceramic tile from arbitrary pose adjusting posture to ideal position process simulation analysis.And studies the image-based robot visual positioning control model of ceramic tile,finally to set up the control model of simulation examplesprocess(4)According to the robot's movement that grab-improve mobile-down the process.Design uses interpolation 5 paragraph 3 times to study of trajectory planning of robot trajectory planning algorithm,finally,the derived equation,the selection of points on the robot motion simulation analysis.For each joint of the robot changes in displacement,angular velocity and angular acceleration curve,robot control to lay the foundation for further study.