Research On Motion Optimization Of Sorting Platform Based On Delta Robot

With the advancement of Industry 4.0,more and more robots are used in all aspects of industrial production,which makes it possible to improve production efficiency while reducing input costs.Delta parallel robots are widely used in the sorting,handling,palletizing and other production processes of light industry due to their advantages of small load,fast speed.Based on the problem that the sorting platform of a part processing and manufacturing enterprise is not efficient,this subject takes the Delta robot as a prototype,performs kinematic analysis and trajectory planning on the robot body,and combines the research of the vision system to propose a multi-objective motion optimization algorithm.The main research contents of the subject are as follows:First,based on the Delta robot as a prototype,a kinematics model is established based on its structural characteristics and working principles,to find forward and inverse solutions and verify the correctness of the model.The differential method is used to obtain the Jacobian matrix,and the robot's speed,acceleration,singular configuration are analyzed in detail.Using the curved envelop theory,the working space of the robot is obtained,and the three-dimensional graphics of the working space are obtained through MATLAB optimization and simulation.A rounded rectangular path based on the modified trapezoidal speed mode is selected to conduct trajectory planning research on the sorting path at the end of the mechanism.Second,the overall calibration of the visual tracking system.Perform a series of processing on the image such as noise reduction,binarization,contour extraction,calibration centroid,etc.In order to improve the accuracy of crawling,a dynamic tracking and picking algorithm is proposed,and the algorithm is simulated and verified to obtain an error curve.A multi-objective motion optimization algorithm based on particle swarm optimization is proposed,and the correctness of the algorithm is verified by Simulink.Finally,according to the characteristics of the motion control system and vision system,the hardware selection work is carried out,and the MFC class library in Visual Studio is used to create the sorting system control interface;Use socket(TCP / IP)to connect the communication between the industrial camera and the robot;Build a sorting operation platform according to the working principle and flow of the control system;On the basis of building a sorting platform,a crawling experiment was conducted to effectively verify the working efficiency of the platform.