| With the transformation and upgrading of the packaging and printing equipment manufacturing industry to intelligence,it is the only way to use intelligent equipment such as robots to assist or replace manual production.As one of the core production lines of printing equipment manufacturing enterprises,its intelligent processing level directly affects the production efficiency of packaging and printing equipment components.Shaanxi Beiren Company upgraded the guide roller production line during the 13 th Five-Year Plan period,and installed a truss robot in combination with the CNC turning center to realize automatic clamping and processing of steel shafts,aluminum plugs and other parts,but the loading and unloading of parts,transportation and other tasks are still done manually,which seriously restricts the intelligent level of the production line.Therefore,with the support of the national key research and development plan and other projects,this paper takes the loading and unloading process of steel shaft processing unit in the guide roller production line as the research background,carries out in-depth research on the manipulator motion planning and grasping method of composite robot.The main research contents are as follows:(1)The software and hardware selection design and simulation of the composite robot was completed in conjunction with the scene of the steel shaft machining unit.Based on the loading and unloading requirements of the steel shaft machining unit and the characteristics of the processing environment,the solution of using a composite robot to complete automatic loading and unloading was proposed.The selection and structural design of the 6-DOF manipulator,gripper and visual function module were completed.The ROS-based composite robot development platform has been built,and the simulation of the composite robot body and steel axis machining unit has been realised in the Rviz and Gazebo simulation environments.(2)The quintic polynomial interpolation and the improved RRT algorithm for manipulator motion planning were proposed to solve the obstacle avoidance problem of the 6-DOF manipulator in the steel shaft machining environment.The kinematic model of the 6-DOF manipulator was established by using MD-H parameter method,and the mapping relationship between the joint space and the operation space of the manipulator was revealed.The reachable space of the end of the manipulator was analyzed by using random scatter points and space segmentation method.The quintic polynomial interpolation and the improved RRT algorithm for manipulator motion planning were proposed,and the simulation of the above methods was completed in MATLAB.(3)To address the precise grasping of steel shaft parts during automated loading and unloading processes,a new grasp pose estimation method based on depth camera was proposed for robots.The data acquisition principle of RGB-D camera was studied,and the transformation relationship between the camera coordinate system and the coordinate system at the end of the manipulator was established by camera calibration,depth map registration and hand-eye calibration.Completed the preprocessing of RGB images and depth images based on OpenCV,and extracted the maximum contour information of the steel shaft parts by integrating Canny operator and morphological processing.Proposed a grasping pose estimation method based on the contour geometric moments and PCA.(4)Based on the above research results,developed a simulation platform for a composite robot working with a steel shaft machining unit by integrating MoveIt!and Gazebo.An octree map was constructed using the depth information from an RGB-D camera,achieving environment perception for the composite robot.Combined with the loading and unloading process of steel shaft parts,developed an operating interface and control program,validated the accuracy and reliability of the visual grasping system,and successfully completed the automatic loading and unloading task for parts. |
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