雕刻并联机器人刀具导向期望加工位置研究

Research on guiding cutting tools of engraving parallel robots to expected positions

为了增强雕刻并联机器人对其末端执行器位置监测以及对其工作环境、状态的主动认知的能力,引入了双目主动视觉的思想,建立了一种新型的基于圆形轨道的双目主动视觉监测平台,实现了并联机器人对空间工作环境的监测,并研究了在双目主动视觉监测平台下使并联机器人将刀具导向期望加工点的方法。研究结果表明,利用视觉信息解决了雕刻并联机器人导向矢量的确定问题,为机器人工作路径自规划提供了一种新方法。

With introducing the idea of binocular active vision, a novel binocular active vision monitoring platform is built based on a Circle Orbit. It aims to enhance the engraving parallel robot＇ s accuracy of monitoring the location of the endmost cutting tool, and its cognitive ability to actively identify the working context and status, so as to realize its monitoring on the space working context. A method is then advanced, on this binocular active vision monitoring platform, to direct the cutting tool to the expected position in engraving. The method indicates that the problem of vector-orientation of engraving parallel robots can be solved by means of visual information,-and a new solution to self-programming of working path for parallel robots has been found.