Development Of Sorting Control System For Three-axis Parallel Robot

With the gradual rise of the Industrial Internet and the vigorous promotion of "Made in China2025",industry is developing rapidly in China.Industrial robot is an important part of industry,which has been paid much attention.With the advantages of parallel robots such as fast running speed,low inertia,and excellent dynamic performance,the problem like high manpower cost and time cost of manpower sorting is able to be solved in the production lines of food,energy,medicine and other industries,which has great application potential.Therefore,the kinematics analysis of parallel robots,hardware and software design of control system,visual information processing have been researched in this thesis.a three-axis parallel robot sorting control system has been designed which is used to complete the sorting work in food,medicine and other industries.The research contents of this thesis are as follows:In this thesis,the mechanical structure of the Delta 3-axis parallel robot is introduced.The characteristic of three-dimensional translational motion of the Delta 3-axis parallel robot is verified by DOF analysis.The forward and inverse kinematics solutions of the parallel robots are obtained by analytic geometry method.Based on the forward kinematics solution,the working space of the robot is analyzed and verified by Monte Carlo method,which lays a foundation for the design of the sorting control system.Basis on the characteristics of three-axis parallel robot and the requirements of sorting application,a sorting control system design scheme is proposed in this thesis,which applies the structure of PC+PLC motion controller + servo driver + servo motor.With high speed and good stability as the standard,the selection of experimental facilities and electrical design of the control cabinet are carried out,and the hardware environment of the control cabinet is built.In this hardware environment,based on the software of PLC?CONFIG,the basic motion control functions of the three-axis parallel robot are developed,such as enabling and disabling energy,returning to the origin,and point moving,as well as the application functions of information receiving and automatic sorting.Considering the convenience of man-machine interaction,the configuration control interface is designed.The visual recognition technology of parallel robots sorting application is researched.A visual recognition scheme based on Open CV and Kinect camera is proposed,which realizes the recognition of object position information,color information and shape information.The TCP communication protocol between vision system and motion control system is established,and the information exchange between the two systems is completed.Finally,the debugging and experiment of the parallel robot sorting control system are carried out in this thesis.The calibration of system parameters is completed.The absolute positioning accuracy and repeated positioning accuracy of the robot are tested,and the actual effect of the basic sorting function and the sorting function based on color information and shape information are verified.According to the moving speed of the roller table and the moving speed of the robot,the picking position of the robot is corrected to improve the picking accuracy.The curve sorting path is designed to reduce the single sorting time and optimize the sorting speed.The control system is able to control the robot to sort objects with high speed,high precision and good stability,which meets the expected requirements and has good application value.