摘要
这里介绍了一种专门用于拾取和放置的六自由度并行机器人,该机器人具有高速和高载荷自重比的封闭式运动结构。这里针对六轴并联机器人运动控制和视觉抓取问题进行了深入的研究。首先针对六轴并联机器人的逆运动学问题进行求解;其次本文提出了牛顿修正法的六轴并联机器人实时正运动学求解方法;再次利用图像学形态算法从图像信息中确定待抓取目标的形态学特征,采用目标中心定位方法进行视觉抓取;最后利用实验验证了六轴并联机器人运动学和视觉抓取模型的正确性。结果表明该策略在较短的执行时间内,位置和方向参数的精度分别接近0.008mm和0.0012°。
This paper introduces a parallel robot with six degrees of freedom which is specially used for picking up and placing.The robot has a closed motion structure with high speed and high load deadweight ratio. In this paper,the motion control and visual grasping of six-axis parallel robot are studied in depth. Firstly,the inverse kinematics of six-axis parallel robot is solved.Secondly,the real-time forward kinematics of six-axis parallel robot based on Newton’s modified method is proposed. The morphological features of the target to be captured are determined from the image information by using the image morphology algorithm and the target center positioning method is used to carry out the visual capture. Finally,the kinematics and visual grasping models of six-axis parallel robot are validated by experiments. The results show that the precision of position and direction parameters is close to 0.008 mm and 0.0012° in short execution time respectively.
作者
孙娜
王强
赖淑惠
SUN Na;WANG Qiang;LAI Shu-hui(Ningxia Institute of Technology,Ningxia Shizuishan 753000,China;Shaanxi University of Science and Technology,Shaanxi Xi'an 710021,China)
出处
《机械设计与制造》
北大核心
2021年第12期262-267,272,共7页
Machinery Design & Manufacture
基金
2016年宁夏自治区青年教师教学改革项目(NXJG2016071)。
