面向瓷砖拼花的机器人末端执行器及吸附点规划算法  

Robot End Effector and Adsorption Point Planning Algorithm for Tile Mosaic

作　　者：陈洁涛 陈焕乐 谭炯钰 蒋晓明 CHEN Jietao;CHEN Huanle;TAN Jiongyu;JIANG Xiaoming(Guangdong University of Technology,Guangzhou 510006,China;Institute of Intelligent Manufacturing,Guangdong Academy of Science,Guangzhou 510070,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006 [2]广东省科学院智能制造研究所,广东广州510070

出　　处：《自动化与信息工程》2022年第1期33-37,共5页Automation & Information Engineering

基　　金：广东省应用型科技研发专项资金项目(2015B090922003)。

摘　　要：针对当前瓷砖拼花行业依赖人工及瓷砖部件形状各异、尺寸差别明显的挑战,设计一种面向瓷砖拼花的机器人末端执行器及吸附点规划算法,提出多点吸附控制系统和基于吸附抓取稳定性最优的多吸附点位优化规划算法。经实验,验证了该算法的可行性以及对不同形状尺寸瓷砖部件的适应性。In view of the challenge that the current tile mosaic industry depends on manpower and tile parts with different shapes and sizes,a robot end effector and adsorption point planning algorithm for tile mosaic are designed,and a multi-point adsorption control system and a multi-point adsorption point optimization planning algorithm based on the optimal adsorption grasping stability are proposed.Experiments verify the feasibility of the algorithm and its adaptability to ceramic tile parts with different shapes and sizes.

关 键 词：机器人 多吸附点 可调吸附点 真空吸附 瓷砖拼花 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]