液袋阀门体装配用6-DOFs机器人轨迹规划

Liquid Bag Valve Body Assembly with 6-DOFs Robot Path Planning

为实现集装箱液袋上阀门自动装配和拧紧,本文采用6-DOFs工业机器人自动装配阀门,合理进行轨迹规划,确定位姿。装配机器人从零位开始,通过装于手臂末端自主设计的装配工具,将阀门体从输送带取下,安放于阀门底座上,并将阀门体上的8个紧固孔与阀门底座上的螺孔对准,然后带动两把对称布局的电动扳手,经过4个位姿拧紧8个螺钉,最后机器人返回到零位。同时根据装配过程要求,设计出各工作阶段末端装配工具的位姿,并利用逆向运动学求出各阶段的关节角,再根据轨迹算法,对关节空间的角度、角速度和角加速度进行分析与运动轨迹仿真。仿真结果表明,所获取阀门轨迹为0-11-12,阀门按放轨迹为12-21-22,阀门拧紧轨迹为22-1r-2r-3r-4r,回归零位为4r-0。该研究实现了完整的装配轨迹规划。

In order to realize automatic assembly and tightening of the valve on the container liquid bag,the 6-DOFs industrial robot is used to assemble the valve automatically,and accomplish reasonably trajectory planning to determine the pose.The special tool fixed on the end of a robot-arm was moved from its initial position to the top of a conveyor belt for grasping an upper valve.After the upper valve was gripped,the tool carried it to the top of a lower valve,and then put the upper valve on the lower valve,and aligned synchronously eight holes of the upper valve to screw holes of the lower valve.And then driving the electric wrench two symmetrical layout,after 4apose tighten 8screws,the robot returns to zero position.At the same time,according to the requirements of assembly process,design a pose for the assembly tool at the each working stage.And then the joint angles of the robot-arm corresponding to those poses above mentioned were computed according to the robotic inverse kinematics.Ultimately,the trajectories,angle speeds and angle accelerations were obtained from starting joint angles to ending joint angles of each of trajectories according to the trajectory algorithm.Meanwhile,come true the simulation of trajectory.The simulation results show that the obtained valve trajectory is 0-11-12,and the trajectory of placing the valve is 12-21-22,and the valve tightening trajectory is 22-1r-2r-3r-4r,and the return to zero is 4r-0.The research realizes the complete assembly trajectory planning.