摘要
针对计算机硬盘装配生产线人工螺丝锁紧工作效率低和重复劳动问题,提出了一种基于UR10协作机器人的螺丝锁紧工作站。利用RoboDK和SolidWorks构建了工作站模型,根据D-H参数法在MATLAB Robotics Toolbox中建立了机器人三维数学模型,并进行了运动学分析,结合三次多项式插值得到各关节的空间轨迹,利用Robotics工具箱对机器人进行了轨迹规划仿真,通过Python编写了上位机与机器人的Socket通信程序。结果表明,机器人运动轨迹连续且平滑,工作站通信可靠,机器人使用降低了劳动强度,提高了生产效率,同时为智能生产线机器人工作站的研究和应用提供参考。
A screw locking workstation based on UR10 collaborative robot is proposed to address the problem of low efficiency and repetitive work in manual screw locking in hard disk assembly lines.The workstation model was constructed using RoboDK and SolidWorks,a 3D mathematical model of the robot was built in MATLAB Robotics Toolbox according to the D-H parametric method,kinematic analysis was performed,the spatial trajectory of each joint of the robot was obtained by combining cubic polynomials,and the robot was simulated for trajectory planning using Robotics Toolbox.The robot′s trajectory was simulated using the Robotics Toolbox,and a Socket communication program between the host computer and the robot was written in Python.The results show that the robot trajectory is continuous and smooth,the workstation communication is reliable,the use of the robot reduces labour intensity and improves assembly efficiency,and provides a reference for the research and application of robot workstations in intelligent production lines.
作者
庞党锋
崔世钢
张永立
Pang Dangfeng;Cui Shigang;Zhang Yongli(Key Laboratory of Information Sensing and Intelligent Control,Tianjin University of Technology and Education,Tianjin 300222,China;School of Mechanical Engineering,Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)
出处
《国外电子测量技术》
北大核心
2022年第3期114-118,共5页
Foreign Electronic Measurement Technology
基金
教育部产学合作协同育人项目(202002071043)
天津中德应用技术大学校级科研项目(zdkt2021-009)资助
