Research On Design And Trajectory Planning Of Veneer Stacking System Based On Machine Vision

In this paper,the IRB 1410 6-axis robot is taken as the research object,and the research on the stacking system,machine vision,and trajectory planning of veneer is carried out.Due to the relatively small thickness of the stacking object veneer,it is not possible to directly grasp it through the end-effector;In addition,the sealing property of veneer is poor,and only using suction cups for adsorption cannot ensure stability during the stacking process.Therefore,an end actuator with suction function is designed.This paper also extracts the contour features and center point coordinate information of veneer through a machine vision system,and conducts trajectory planning based on veneer stacking experiments to improve the stability and accuracy of IRB 1410 6-axis robot veneer stacking work.The main research contents are as follows:(1)Design of veneer stacking system.Analyze the workflow and overall layout of the veneer stacking system,study the overall scheme of the veneer stacking system,and design the mechanical structure of the end-effector with suction function and the control scheme of the veneer stacking system.Design and analyze the anti-skid system of the end-effector and the data communication function between multiple systems,establish a three-dimensional model of the end-effector,and lay the foundation for veneer stacking experiment.(2)Research on planar target recognition and location of veneer board.Through camera calibration experiments and the principle of camera coordinate system transformation,the spatial coordinates of veneer are converted into three-dimensional coordinates under the robot.The image processing technology of the machine vision system is studied.The captured image of veneer is subjected to preprocessing operations including grayscale processing,image binarization,and filter processing.The edge image of veneer is obtained using Canny operator edge detection.The position information of the center point of veneer is obtained through Hough transform and square center formula,providing position information for the motion trajectory planning of the IRB 1410 6-axis robot veneer stacking.(3)Research on optimization of plank stacking trajectory planning.The structural model of IRB1410 6-axis robot is established based on the D-H parameter method,and the forward and inverse kinematics analysis of the motion joints is performed.Using a quintic polynomial to interpolate the trajectory of the joint space and analyze it using Matlab,a multi-objective optimization function based on time,energy consumption,and residual vibration of the joint is established to determine the motion trajectory constraints and optimization parameters.The interpolation motion trajectory is optimized using a multi-objective particle swarm optimization algorithm,and a veneer stacking scene is established in the Robot Studio simulation software,and the veneer stacking motion simulation is completed.The simulation results show that after multi-objective particle swarm optimization,the work efficiency is improved by about28.57%,the energy consumption is reduced by about 27.92%,and the residual vibration of joints is reduced by about 65.29%.(4)Experimental platform construction and analysis.The IRB 1410 6-axis robot is used as the main body to build an experimental platform for stacking veneers.Through experiments,the rationality of the end-effector designed in this paper with suction function is verified.The design of its anti-slip system can improve the accuracy of suction and holding veneers.Through the IRB 1410 6-axis robot motion planning experiment,it is found that the optimized operation time,energy consumption,and joint residual vibration have greatly improved,verifying the reliability of the veneer stacking system.