| In the 21 st century,with the introduction of the concept of industrial intelligence,the realization of automation is the general trend of industrial development.Traditional manufacturing industry is facing the problem of industrial transformation.Accelerating industrial transformation and robot technology research and development are the top priorities for the development of high-end manufacturing industry at present.The structure,kinematics and control system of the grasping robot based on dry adhesion are studied in this paper.The key technology of grasping robot,especially the fast and accurate grasping technology of objects with irregular shape and different materials,is a difficult problem in this research field.First of all,in view of the existing grasping mechanism usually only two degrees of freedom to complete grasping operation,poor grasping flexibility,time and effort,the scope of application has a large limitation of the general problems,based on the requirements of this topic to establish the overall design scheme.According to the shape and size of the object and the requirements of the robot performance,a grasping robot system was developed.The grasping robot system consists of a three-degree-of-freedom feed mechanism,a fine tuning mechanism and an adhesive platform.The three-degree-of-freedom feed mechanism,namely a rough adjusting mechanism,includes a rotary motion module,a horizontal motion module and a vertical motion module,which can drive the fine tuning mechanism and the adhesive platform to do rotary motion,horizontal motion and vertical motion respectively.The fine-tuning mechanism assists the adhesion platform to move down slightly and approach the target object gradually.At the same time,it can adjust itself to fit the surface of the object,and then implement the grasping work of the target object.Secondly,in order to ensure the reliability of the robot's structure and movement,the Workbench software is used to carry out static analysis on the key parts and complete the optimization design.The dynamic characteristics of the prototype model are analyzed to avoid the resonance phenomenon effectively.At the same time,D-H method is used to establish the robot kinematics model and solve the forward and inverse kinematics,which will be helpful to the software development of the control system.Then,based on its drive system to build the overall scheme of control system,determine the use of motion control card embedded in the PC model of the open control system,and according to the master-slave two-level control structure,the design of servo drive,upper computer,motion control card and control cabinet and other hardware systems.At the same time,the software of servo system,motion state detection,multi-axis motion planning and safety auxiliary function modules are developed and designed by calling the functions in the dynamic link library DLL,and the workflow of the grasping robot control system is comprehensively described.Finally,according to the research index of the subject,four experiments were designed: time consuming experiment of full stroke movement in three directions of XYZ,test experiment of motion range of the end position,test experiment of adjustment accuracy of the end position and evaluation experiment of the robot grasping the object,which verified that each performance index met the requirements of the subject.At the same time,the positioning accuracy of X axis,Y axis and Z axis is 1.1294 mm,1.1007 mm and 1.4869 mm respectively,and the grasping weight can reach 30 Kg.It is verified that the software and hardware system of the robot is stable and reliable,and the handling and recovery of goods can be realized.It plays an active role in promoting the future research on the recovery of goods with irregular curved surfaces. |
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