A0装配图
基于并联机器人自动分拣装置的结构设计与分析
摘要
我国目前的经济发展速度飞快，与之而来的劳动力成本与生产的效率要求也在不断地提升，生产线中的分拣系统是自动化生产线中相当重要构成部分，为了符合目前的要求，其必须具有高速，高精度，智能化等一系列特点。在其中并联机器人是最符合上述要求的机器人，所以并联机器人在自动化生产线以及分拣系统中的应用十分的可观。
为了适应目前的工业需求，本设计了具备多种规划途径以及拾取选择的分拣装置。对此分拣系统进行结构的设计与分析。
本优先设计了并联机器人自动分拣装置的结构以及主要工作方式，详细介绍了分拣系统的工作原理与优点。在工业生产活动中，分拣系统针对不同的情况有不同的路径要求。本文针对这些路径要求主要设计了空间直线、与空间圆弧等轨迹的算法；运用抛物线函数以提升运动轨迹的稳定性，并对产品的轨迹进行了优化。
最后进行实验操作分拣系统的分拣过程，结果分析得到，第一，末端执行器可以按照人为规划的所有轨迹进行相应的运动。并且能够按照人为的要求准确的完成对产品的抓取和投放；第二，我们看到在分拣系统的分拣过程中，末端执行器在不同段落的轨迹运动中，其过渡非常平稳，没有出现任何卡顿现象。第三，系统可以自动判断物件位置并进行筛眩通过最大的效率来保证一次性抓取和投放多个物件，大大加快了生产效率。
关键词：并联机器人；分拣装置；轨迹途径
Abstract
With the rapid economic development in our country, the cost of labor and the efficiency of production are constantly improving. The sorting system in the production line is avery important part of the automatic production line. In order to meet the current requirements, it must have a series of characteristics such as high speed, high precision and intelligence. Among them, parallel robot is the most suitable robot, so the application of parallel robot in automatic production line and sorting system isvery considerable.
In order to meet the current industrial needs, this paper designs a sorting devicewith multiple planning approaches and pick-up options. The structure of the sorting system is designed and analyzed.
This paper gives priority to the design of the structure and mainworking mode of the parallel robot automatic sorting device, and introduces theworking principle and advantages of the sorting system in detail. In industrial production activities, the sorting system has different path requirements for different situations. According to these path requirements, this paper mainly designs the algorithm of space straight line, space arc and other tracks, uses parabola function to improve the stability of the motion track, and optimizes the product track.
Finally, the sorting process of the experimental operation sorting system is carried out, and the results are analyzed. First, the end actuator can move according to all the trajectories planned by human. In addition, it can accurately grasp and release the products according to the human requirements; secondly,we can see that in the sorting process of the sorting system, the transition of the end actuator in the track movement of different paragraphs isvery smooth,without any jamming phenomenon. Third, the system can automatically determine the location of objects and filter them. Through the maximum efficiency to ensure a one-time grab and drop multiple objects, greatly speeding up the production efficiency.
Keywords: Parallel Robot; Sorting equipment; Track approach
目录
摘要1
Abstract 2
引言1
1、绪论2
1.1选题的依据及意义2
1.1.1选题的依据2
1.1.2选题的意义3
1.2国内外研究现状及发展趋势3
1.2.1国外研究现状及发展趋势3
1.2.2国内研究现状及发展趋势4
1.3本课题研究内容及要求4
1.3.1研究内容4
1.3.2设计要求5
2、构建系统框架6
2.1并联机器人自动分拣装置课题研究方案6
2.2结构及附图6
2.2技术效果说明9
3、并联机器人运动学建模与分析10
3.1机构分析10
3.2坐标系的建立11
3.3位置正解逆解分析11
4、末端轨迹部分14
4.1末端轨迹规划14
4.2末端运动轨迹分析14
4.2.1直线轨迹规划16
4.2.2空间圆弧轨迹规划18
5、总结20
参考文献21
A1电机座
A3底端移动架
A3虎克铰（上）
2摘要
3设计所包含文件
4目录
1字数统计
