基于倍福Twin CAT的平行四边形码垛机器人控制系统设计与实现

目前国内的平行四边形机器人主要用于码垛,其结构主要有混联式丝杠机构和双平行四边形旋转轴式机构,本文通过对这两种四边形机构的运动学分析,推导出四边形机器人的正逆解算法。再利用倍福TwinCAT软件的实时运算核运行正逆解算法,把轨迹规划功能块产生的笛卡尔坐标系位置值实时转化成关节坐标系位置值并利用外部给定功能通过EtherCAT总线实时地对电机和机器人进行控制。本文还通过对码垛机器人末端轨迹的分析利用TwinCAT软件的NCI插补功能开发了轨迹规划抓放功能块。结果显示通过对两种机器人结构的分析以及在TwinCAT平台的软件编程实现了码垛机器人的控制。

At present, there are two types of mechanism of the domestic palletizing robots, i.e., the mixed gear and rack mechanism and the double parallel quadrilateral rotating axis mechanism. Through the kinematic analysis of the two palletizing mechanisms, this paper derives the positive and inverse algorithm of the palletizing robot. TwinCAT is implemented to solve the inverse algorithm in real time. Then the Descartes coordinate system generated by the trajectory planning function block is transformed into the position value of the joint coordinate system. At the same time, the motor and the robot are controlled by the EtherCAT bus by the motion control function block. By analyzing the terminal trajectory of palletizing robot, a trajectory planning and grasping function block is developed based on the NCI function of TwinCAT software. By analyzing the structure of the two types of robots and the software and hardware development of the TwinCAT platform, results show that the control of palletizing robot is realized.