基于位移传感器的包装机械手运动跟踪方法设计  

Design of Motion Tracking Method for Packaging Manipulator Based on Displacement Sensor

作　　者：熊新国[1] 徐洪亮 任枫轩[1] XIONG Xin-guo;XU Hong-liang;REN Feng-xuan(Henan Polytechnic,Zhengzhou 450046,China;Kaifeng Technician College,Kaifeng 475000,China)

机构地区：[1]河南职业技术学院,郑州450046 [2]开封技师学院,河南开封475000

出　　处：《包装工程》2021年第9期244-248,共5页Packaging Engineering

基　　金：河南省科技厅科技攻关项目(182102210085)。

摘　　要：目的为提高包装机械手末端执行器轨迹跟踪精度,提出一种三维运动轨迹跟踪方法。方法获取拉绳式位移传感器在预先建立的三维坐标系中坐标数据和拉线长度。利用坐标和拉线长度计算运动物体的三维坐标数据,进而形成所述运动物体的三维运动轨迹。同时,给出基于ARM的轨迹跟踪控制器结构以及软件实现方法。结果实验结果表明,与传统示教盒相比,该方法可将定位精度提高1倍,相关误差可控制在0.3 mm以内。该方法在执行效率方面大约能够提升33%,提高了包装机械手的执行速度和分拣效率。结论所述轨迹跟踪方法能够提高包装机械手末端执行器的定位精度和定位速度,符合包装、食品、化工等行业的工艺要求。In order to improve the trajectory tracking accuracy of the end-effector of the packaging manipulator,a 3d trajectory tracking method was proposed.The coordinate data and the cable length of the drawstring displacement sensor in the pre-established 3d coordinate system were obtained.The three-dimensional coordinate data of the moving object was calculated by using the coordinates and the length of the drawing line,and then the three-dimensional motion trajectory of the moving object was formed.At the same time,the structure of trajectory tracking controller and software implementation method based on ARM were presented.The results show that compared with the traditional teaching box,the positioning accuracy can be doubled by this method,and the correlation error can be controlled within 0.3 mm.This method can increase the execution efficiency by about 33%,and improve the execution speed and sorting efficiency of the packaging manipulator.The trajectory tracking method can improve the positioning accuracy and speed of the end-effector of the packaging manipulator,and meet the process requirements of packaging,food,chemical and other industries.

关 键 词：轨迹跟踪 包装机械手 定位 位移传感器 ARM 

分 类 号：TB486[一般工业技术—包装工程] TP241[自动化与计算机技术—检测技术与自动化装置]