基于快速搜索随机树的薄片元件拾取机械手电控系统设计

Control System for Sliced Piece Picking Manipulator Based on Rapid Random Tree

微型薄片散列元件的拾取问题一直困扰着微型机构的装配能力,如何提高微型元件拾取效率和拾取精度一直是机器人智能控制的研究方向。为此,采用振动盘驱动设备,通过其震动能量驱动散列薄片元件沿螺旋轨道顺序排列并推挤前进,然后由轨道末端传感器感知元件并通过PLC控制三自由机械手夹取元件。为提高夹取效率,给出了机械手电控系统的实施方案,并结合快速搜索随机树避障算法,对机械手的运动轨迹进行了模拟仿真,得到了机械手3个自由度下关节的运动路径,对于优化电控系统软件设计提供了重要参数指导。

How to improve the picking efficiency and accuracy of the micro-chip element has always been the study direction of the intelligent robot control. For this reason, the vibration disk was used to drive the device. Through its vibration energy, the hash-sheet components were arranged in order along the spiral track and pushed forward. Then the manipulators with three degrees of freedom were controlled by PLC to grab the components detected by sensor. In order to improve the clamping efficiency, the implementation scheme of control system was presented, combined with the RRT obstacle avoidance algorithm, the motion trajectory of the manipulator was simulated, the motion paths of the joints were obtained, which provided important parameter guidance for the optimization of the electronic control software.