仿人手接线机器人运动控制研究  

Motion Control Research of Humanoid Hand Spun Yarn Connection Robot

作　　者：赵世标 徐林森[2] 姜祖辉[1] 郑中山[1] 刘进福[3] 陈华奎[3] 何鋆 赵江海[2] 

机构地区：[1]中国科学技术大学工程科学学院,安徽合肥230026 [2]中国科学院合肥物质科学研究院,安徽合肥230031 [3]常州先进制造技术研究所,江苏常州213000

出　　处：《机械与电子》2015年第2期60-65,共6页Machinery & Electronics

基　　金：国家重点基础研究发展计划资助项目(2011CB302106);江苏省重点科技支撑计划资助项目(BE2013003);国家科技支撑计划资助项目(2012BAH29F00)

摘　　要：近年来机器人普遍应用于纺纱行业中,针对在细纱机落纱过程中断线的问题,设计了仿人手接线机器人系统平台,采用双臂六自由度机械臂代替人手,目的是来完成纱线断开后的接线动作,比传统人工接线更迅速和更节省人力。分析了平台的系统构成,并根据人手接线动作探讨了仿人手接线机器人其接线的运动动作策略。根据双臂机器人的正运动学和逆运动学,在此基础上分析了双臂的协调控制。最后通过仿人手接线机器人系统平台的实验,验证了此方案的可行性。Robot is generally used in spinning industry in recent years. Aiming at the problem of disconnection in the process of doffing in ring spin ning, the platform of humanoid hand spun yarn connection robot system dual arm 6 DOF robot is designed that adopts instead of hands to cornplete piecing action after breaking of spun yarn and is more quickly and save manpower compared to piecing by hands. Platform system composition was analyzed and operating strategy of humanoid hand spun yarn connection robot was discussed accord ing to the manpower connection movement. The forward kinematics and inverse kinematics of dual arm robot was analyzed, on the basis of the above the coordination control of dual arm was studied. In the end through the experiment based on plat form of humanoid hand spun yarn connection robot the feasibility of this scheme is validated.

关 键 词：仿人手接线机器人 动作策略 正运动学 逆运动学 协调控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]