基于Simulink对机械臂可视化上料研究  

Simulink-based study on visualized loading of robotic arms

作　　者：于资江 李存志 于菲 谢爱军 刘国梁 YU Zijiang;LI Cunzhi;YU Fei;XIE Aijun;LIU Guoliang(Qingdao CHOHO Industrial Co.,Ltd.,Qingdao 266700,CHN;Weihai Advanced Technical School of Mechanical Engineering,Rushan 264500,CHN;School of Mechanical and Automotive Engineering,Qingdao University of Technology,Qingdao 266700,CHN)

机构地区：[1]青岛征和工业股份有限公司,山东青岛266700 [2]威海机械工程高级技工学校,山东乳山264500 [3]青岛理工大学机械与汽车工程学院,山东青岛266700

出　　处：《制造技术与机床》2024年第2期80-84,共5页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金(52005281);山东省自然科学基金(ZR2020QE181)。

摘　　要：自动上料设备可以通过现代化技术实现数据采集和分析,以优化制造流程,提高生产效率和产品质量,从而更好地实现智能制造。为了实现链板等零件的自动上料过程,文章介绍了机械臂的三维可视化人机交互平台模型的构建过程,以Gluon机械臂为分析对象,进行正运动学分析和逆运动学验证,并通过Simulink搭建了控制系统模型,实现了对Gluon机械臂的联合仿真。仿真过程中,对各关节的旋转角度、角速度以及末端执行器的齐次变换矩阵实时显示。通过验证,为后期搭建实物平台提供了可行性支撑,为进一步优化和完善系统功能奠定了基础。Automatic loading equipment can realize data acquisition and analysis through modern technology to optimize the manufacturing process,improve production efficiency and product quality,so as to better realize intelligent manufacturing.In order to realize the automatic loading process of chain plates and other parts,this paper introduces the construction process of the three-dimensional visual humancomputer interaction platform model of the robotic arm,takes the Gluon robotic arm as the object of analysis,carries out the positive kinematics analysis and the inverse kinematics validation,and builds the control system model through Simulink,realizing the joint simulation of the Gluon robotic arm.During the simulation process,the rotation angle and angular velocity of each joint and the chi-square transformation matrix of the end-effector are displayed in real time.Through the verification,the feasibility support is provided for the later construction of the physical platform,which lays the foundation for further optimization and improvement of the system functions.

关 键 词：自动上料 实时可视化 运动学仿真 SIMULINK 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]