组合机床与自动化加工技术
組閤機床與自動化加工技術
조합궤상여자동화가공기술
Modular Machine Tool & Automatic Manufacturing Technique
2015年
10期
38-40,44
,共4页
Delta结构%位置逆解%视觉系统%伺服控制
Delta結構%位置逆解%視覺繫統%伺服控製
Delta결구%위치역해%시각계통%사복공제
Delta structure%inverse solution%visual system%servo control
针对某西林瓶生产企业的生产需求,研制一套基于Delta结构的西林瓶拾取机械手,该机械手系统主要由视觉系统、移动和抓取结构以及控制系统构成.首先给出了拾取机械手的整体结构设计方案,详细描述了移动机构和抓取机构的组成及工作原理,然后通过运动学公式对拾取机械手进行了位置逆解分析,最后给出了视觉系统的工作流程和控制系统的设计原理.实际应用表明文中设计的西林瓶拾取机械手性能可靠,能够很好的实现抓取任务.
針對某西林瓶生產企業的生產需求,研製一套基于Delta結構的西林瓶拾取機械手,該機械手繫統主要由視覺繫統、移動和抓取結構以及控製繫統構成.首先給齣瞭拾取機械手的整體結構設計方案,詳細描述瞭移動機構和抓取機構的組成及工作原理,然後通過運動學公式對拾取機械手進行瞭位置逆解分析,最後給齣瞭視覺繫統的工作流程和控製繫統的設計原理.實際應用錶明文中設計的西林瓶拾取機械手性能可靠,能夠很好的實現抓取任務.
침대모서림병생산기업적생산수구,연제일투기우Delta결구적서림병습취궤계수,해궤계수계통주요유시각계통、이동화조취결구이급공제계통구성.수선급출료습취궤계수적정체결구설계방안,상세묘술료이동궤구화조취궤구적조성급공작원리,연후통과운동학공식대습취궤계수진행료위치역해분석,최후급출료시각계통적공작류정화공제계통적설계원리.실제응용표명문중설계적서림병습취궤계수성능가고,능구흔호적실현조취임무.
In order to meet the demand of an enterprise'' schering bottles production line,this paper develops a set of Picking Manipulator for Chering bottles,it is mainly composed of the visual system,mobile and scraping of the structure and control system.First of all,the overall structure of the picking manipulator is given,this paper describes composition and working principle of the movie mechanism and grasping mecha-nism.And then using the kinematics formula to analysis inverse solution of Picking manipulator'' position.Finally this paper gives work process of the visual system and design principle of the control system.Practical application proved that the picking manipulator for chering bottles designed in this paper has reliable perform-ance in the process of running,and can achieve the desired grasping task very well.
