基于PMAC运动控制卡的混联码垛机器人研制

Development of mixed-connection robot palletizer based on PMAC

根据串联机构和并联机构的特点,以及搬运机器人的性能要求,设计了一种4自由度混联码垛机器人,分析了该机器人的运动学特性,求出其位置正反解析解,给出了机器人码垛的路径规划。控制系统采用工业PC(IPC)作为主计算机,利用分布式二级控制结构实现系统的监控和作业管理,协调各关节的运动,准确地跟踪轨迹规划。最后针对普通示教再现作业方式,提出了码垛机器人离线编程方法,重点对搬运机器人离线码垛过程进行了研究,自主开发了机器人控制软件。实际使用结果表明,所研制的机器人已能满足物流自动化系统中的码垛需求。

On the basis of characteristics of series mechanisms and parallel mechanisms, and of the performance demands of transpertation robot, a kind of 4DOF mixed connection robot palletizer was designed. And then the kinematics characteristics of this robot have been analyzed, the analyses of its positional forward and reverse solutions were found out. The industrial PC （IPC） has been adopted as the primary computer in the controlling system, utilizing the distribution styled two staged control structure to realize the monitoring control and operational management of the system, to harmonize the movements of each joint and to track accurately the locus planning. Finally, aimed at the operation manner of the general teaching and playback reappearance, the offline programming methed for the robot palletizer has been put forward. A study on the off-line stacking process of transportation robot was carried out emphatically, and the controlling software of robot was developed independently. The result of practical employment showed that the being developed robot could already satisfy the stacking demand in the logistic automation system.