Research On Automatic Assembly System Based On Industrial Robot

The study object of this paper is automatic assembly technology based on six degrees of freedom industrial robot,an automatic assembly experiment system of robot is built up.And it discusses in detail about the scheme design of the assembly system,the specific implementation of software and hardware development and the key technologies involved in the system development process.And then,the assembly system is debugged.Firstly,the overall design scheme of the system is put forward according to the requirements of the performance index and the servo function.The theoretical knowledge of robot kinematics is explained briefly.Then building mathematical model and getting kinematics forward and inverse solutions for robots.Then the hardware and software of the automatic assembly system is set up.Among them,the hardware design uses level distributed structure,the system management function and the real-time control function separately by the upper and the lower computer to complete,the auxiliary functions such as work-piece positioning are carried out by machine vision technology;the software development divides into the upper computer software and the lower robot-controller program.The robot-controller program can realize the manual assembly and automatic assembly of the system.And the upper computer software is designed to achieve the centralized monitoring and comprehensive management of the whole system.In addition,coordinate conversion between robots and smart cameras,realizing obstacle avoidance assembly for robot are the key technologies in thesis.Finally,the hardware debug and functional debug of the system is carried out.The hardware debugging includes parameter configuration,electrical commissioning of assembly system.The functional debugging is the implementation of various functions of the assembly system.