Design And Implementation Of Software And Hardware Platform For Hole Shaft Assembly Of Industrial Manipulator

Hole shaft assembly is a common task in industrial automation assembly,with robot technology becoming more mature,with manipulator as the actuator to realize the automatic assembly method has high efficiency,low cost,safe and reliable,and many other advantages,so the direction is becoming a hot spot of control science research direction.This graduation design is so,the graduation design topic for industrial mechanical arm hole shaft assembly design and realization of the hardware experimental platform.System through multiple arm attachment mechanical structure and complete the assembly platform structures,is composed of hardware system and software system composition,including a hardware system for the mechanical subsystem and sense subsystem,control subsystem,interface circuit and communication subsystem driven.The perception subsystem introduces the visual hardware perception system,designs the motor operation perception circuit,realizes the motor detection and braking,guarantees the normal and smooth operation of the motor.In the control and drive system,the forward and reverse kinematics of the manipulator and Cartesian space interpolation are used to study the trajectory planning of the manipulator,and the peripheral driving circuit is designed.In the software system part,the overall framework is designed.The image data acquisition and processing are enhanced by spatial domain method.The edge detection and comparison of images are carried out by Canny,Roberts,Prewitt and Sobe operators,and the circle detection is carried out based on Huff transform.The human-computer interaction interface has been adapted.Finally,the function of the whole system is experimented.Through the construction of the system platform,the unmanned operation and safety reliability of the assembly process are realized.In the process of the design of the whole system,to control engineering discipline background,realizes the control of the motion vector-mechanical arm;In the academic background of instrument science,build the system of perception;in the discipline background of mechanical engineering,design for assembly system of actuators.Then complete the whole assembly process.The assembly system uses industrial camera and other sensor perception system,combined with the movement control of the field equipment,through the control of six DOF Manipulator to achieve the hole axis assembly.