柔性细长管材拣选机械手同步控制技术研究

Research on synchronous control technology of flexible slender pipe picking manipulator

城市轨道列车使用的气路管材来自长细管的切割、弯曲等加工工艺过程。从托盘自动拣选到加工工位需要保证管材不产生塑性形变。该文针对不锈钢长管材的自动拣选搬运需求,研究了多支拣选机械手同步控制技术,利用主从控制方式,通过射频通讯技术实现多个机械手的动作准同步控制;采用分解动作同步策略,降低了机械手运动环节的误差积累,提高了管件搬运过程的平稳性,根据实验验证该方法具有可行性。

The gas pipe used by urban rail trains comes from the cutting and bending of long and thin tubes.From pallet automatic picking to processing station,it is necessary to ensure that the pipe does not produce plastic deformation.Aiming at the automatic picking of the stainless steel long pipe handling requirements,studied more than picking manipulator synchronous control technology,using the master-slave control mode,through radio frequency communication technology to achieve multiple synchronous control of the manipulator,isolations synchronization strategy,reduces the manipulator movement link error accumulation,improve the stability of the pipe handling process.The feasibility of this method is verified by experiments.