多任务快速切换工业机器人实训平台技术研究

Research on Practical Training Platform of Multi-Task Rapid Switching Industrial Robot

为了提高现有工业机器人实训平台的教学效率,实现多个教学任务快速切换,提出一种基于模块化可重构设计思想的工业机器人实训平台,首先利用模块划分和模糊聚类相关理论对实训系统进行模块划分,确定最佳划分方案;其次,分别从机械、硬件、控制等层次进行模块化可重构设计,实现底层硬件快速重构;编写上位机软件并对实训系统及进行运行测试,实现对各个模块的控制,在多个实训任务环境下,控制硬件模块实现快速重构,提高教学效率。

In order to improve the teaching efficiency of the existing industrial robot training platform and realize the rapid switching of multiple teaching tasks,a practical training platform for industrial robots was proposed based on the idea of modu⁃lar reconfigurable design.Firstly,the training system was divided into modules based on the theory of module division and fuzzy clustering,and the best partitioning scheme was determined.Secondly,the modular reconfigurable design is carried out from the mechanical,hardware and control levels respectively to realize the fast reconfiguration of the underlying hardware.The upper computer software was written and the practical training system and the operation test was carried out to realize the control of each module.Under the environment of multiple practical training tasks,the hardware module was controlled to achieve rapid re⁃construction and improve the teaching efficiency.