| As the popularity of high-speed railway increases,ballastless track technology is also constantly improving,the fine tuning of high-speed railway ballastless track board as an important prerequisite for the stable operation of the whole high-speed railway,must be strictly implemented.However,at present,the fine adjustment of track plate is coordinated by manual method,which not only consumes much labor and time cost,but also achieves much lower adjustment accuracy than that of automatic method.In this paper,by referring to the development research of tightening shaft in automobile industry and the design scheme of mechanical arm in various industries,a mechanical arm for bolt fine-tuning based on visual positioning is designed,which provides a feasible scheme for realizing automatic fine tuning of track plate.First of all,according to the existing technology and practical application requirements to determine the design indicators and overall scheme.The end of the manipulator was designed and selected,and the main connectors of the end were statically simulated by ANASYS software,and the stability of the overall structure was verified by mechanical analysis and calculation.Secondly,camera calibration,hand-eye calibration,image processing and analysis were carried out on the visual positioning system,and the coordinates of bolt center point were finally calculated and the shape matching of socket wrench and hexagonal bolt was completed.Then the D-H model was established according to the designed manipulator,and the workspace was simulated by Monte Carlo method and the relevant obstacle space was simplified.The mechanical arm for bolt fine-tuning is inverse kinematics analysis,put forward a kind of based on improved RRT(rapid random extended tree)algorithm of path planning of robot arm,mainly including objective orientation,redundant detection and smoothing,final planning a mechanical arm is suitable for the movement and to reach the target location relative to the optimal path.The simulation results are obtained by constructing the optimization algorithm in MATLAB.Compared with the traditional RRT,the optimized algorithm time is reduced by 44% and the path is shortened by 18.5%.Finally,the design of PLC based manipulator control system,including PLC and servo motor driver selection,address allocation,communication design and block diagram design,drive servo motor to complete the path planning results,verify the feasibility of program design in the simulation software. |
