基于快速搜索随机树的薄片元件拾取机械手电控系统设计  

Control System for Sliced Piece Picking Manipulator Based on Rapid Random Tree

作　　者：郑水林 李守军[1] 王志铭 Zheng Shuilin;Li Shoujun;Wang Zhiming(School of Mechanical and Electrical Engineering,Suqian College,Suqian,Jiangsu 223800,China;School of Information and Control Engineering,China University of Mining&Technology,Xuzhou,Jiangsu 221116,China)

机构地区：[1]宿迁学院机电工程学院,江苏宿迁223800 [2]中国矿业大学信息与控制工程学院,江苏徐州221116

出　　处：《机电工程技术》2021年第8期51-53,103,共4页Mechanical & Electrical Engineering Technology

基　　金：江苏省高校自然科学基金项目(编号:19KJB440002,19KJD460008);国家自然科学基金项目(编号:61976218);宿迁市科技计划项目(编号:Z2019101,Z2019106)。

摘　　要：微型薄片散列元件的拾取问题一直困扰着微型机构的装配能力,如何提高微型元件拾取效率和拾取精度一直是机器人智能控制的研究方向。为此,采用振动盘驱动设备,通过其震动能量驱动散列薄片元件沿螺旋轨道顺序排列并推挤前进,然后由轨道末端传感器感知元件并通过PLC控制三自由机械手夹取元件。为提高夹取效率,给出了机械手电控系统的实施方案,并结合快速搜索随机树避障算法,对机械手的运动轨迹进行了模拟仿真,得到了机械手3个自由度下关节的运动路径,对于优化电控系统软件设计提供了重要参数指导。How to improve the picking efficiency and accuracy of the micro-chip element has always been the study direction of the intelligent robot control. For this reason, the vibration disk was used to drive the device. Through its vibration energy, the hash-sheet components were arranged in order along the spiral track and pushed forward. Then the manipulators with three degrees of freedom were controlled by PLC to grab the components detected by sensor. In order to improve the clamping efficiency, the implementation scheme of control system was presented, combined with the RRT obstacle avoidance algorithm, the motion trajectory of the manipulator was simulated, the motion paths of the joints were obtained, which provided important parameter guidance for the optimization of the electronic control software.

关 键 词：机械手 快速搜索随机树 避障算法 路径规划 PLC 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]