Research On Design And Key Technology Of High Speed Parallel Robot

With the development of industrialization,high-speed parallel robots are widely used in packaging,handling,sorting and other industries due to their high speed,low inertia,and good dynamic performance.Most pencil board manufacturers use manual sorting of pencil boards on the production line,which is slow and inefficient.Therefore,this subject developed a high-speed parallel robot for sorting pencil boards.Because the existing high-speed parallel robot has complex kinematics and dynamics modeling,difficult calculation,multiple coupling,strong nonlinearity,etc.;visual sorting has the problems of positioning grab accuracy and insufficient real-time performance;dealing with high-speed parallel Research on control strategies of time-varying,high nonlinearity,and high coupling during robot motion is relatively inadequate.Therefore,this paper makes the following research on the high-speed parallel robot that visually sorts the pencil board on the pipeline:Through the research and analysis of the development status of high-speed parallel robots at home and abroad,combined with the needs and indicators of pencil board sorting,the overall design of high-speed parallel robots is completed.The key components such as hinges and kinematic branches were optimized,and the Abaqus finite element analysis of the active arm was performed to obtain the deformation and natural frequency of the active arm under rated load,which laid the foundation for subsequent modeling and control.Research the kinematics,dynamics modeling and trajectory planning of the designed high-speed parallel robot.Using a new three-closed-loop vector method and three-cross sphere method for kinematics modeling,and through Matlab verification analysis,the model significantly reduces the coupling and non-linearity of the calculation and other problems;in order to improve the pencil board sorting process Dynamic and high speed,a gate-shaped trajectory planning method based on genetic algorithm(GA)to optimize the transition of Bspline curve is proposed,and the comparative analysis of the trajectory simulation before and after optimization verifies the superiority of this method and achieves Smooth transition of the trajectory;dynamic modeling using the principle of virtual work,the model improves the calculation speed,and uses Adams to verify the correctness of the built model,providing a theoretical basis for the design of the control system.In order to achieve high-speed sorting of pencil boards,research and development of the vision system.Designed and developed a set of pipeline pencil board vision system,which can realize pencil board positioning correction,recognition tracking and FFT-based defect detection,and experimental verification of visual algorithms;improved a multi-target dynamic tracking based on camera + synchronous conveyor belt The algorithm is suitable for multi-target tracking of the pencil board,which improves the efficiency of target recognition and positioning.The design of the vision system provides the control system with accurate and highly real-time position coordinate data.Based on the above research,the control strategy,hardware system and software system of high-speed parallel robot control system are designed and integrated.In order to improve the response and accuracy of trajectory tracking,a fuzzy PID + feedforward control strategy is adopted,and its control strategy is simulated and analyzed by Simulink;in order to realize the high frequency and high speed processing capability of the entire control system,DSPbased The hardware system design of the control chip,the host computer software system integration design with C #.Net as the main development language;finally,the system integration test and simulation through Vrep improve the overall system performance.