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《制造业自动化》2021,(7)
为了应对电子商务迅猛发展给仓储物流行业带来的新需求和挑战,设计了一款具有自主导航、自动避障以及自动分拣功能的自动分拣机器人。该机器人上位机基于ROS操作系统实现了机器人的多点自主导航、自动避障功能;下位机则基于STM32实现了底层电机、传感器驱动控制;并且,通过上位机与下位机之间的通信,实现了机器人自主导航以及自动抓取之间的协调工作。同时,针对DWA算法掉头、避障效果差的问题,结合算法原理以及麦克纳姆轮的运动特性,对DWA算法进行优化。经实验验证,当选取sim_period=2.5时,算法优化后,机器人掉头完成时(旋转180°)的Y轴偏移量比优化前缩小了51%,运行时间也比优化前缩短了30%,并且具有更好的避障效果。 相似文献
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以机器人为研究对象,利用较低成本设计并开发了一种基于机器视觉的,能实现有效避障和自动导航的服务机器人系统;通过机器人设计方案的整体阐述和研发过程的具体分析(包括硬件结构与外观的设计、机构功能电路的调试、视觉避障与引导线标志实现导航的控制等),为机器人技术在专业实践领域中的应用奠定基础。 相似文献
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自动化物流搬运已成为工业流程中十分重要的一个环节,其有助于企业加快实现自动化升级步伐。设计了一款基于Arduino Mega2560和Arduino Uno单片机,结合稳压模块、电机驱动模块、超声波模块、直线丝杆步进电机、循迹模块等硬件的起重运输机器人,利用软件系统完成了循迹避障、升降架升降、机械手爪抓取等功能。通过对起重运输机器人的机械系统和控制系统内容开展理论分析,并进行相应的实验进行验证,最终实现了起重运输机器人对信息的读取和处理、路线循迹、避障、物品识别和抓取摆放等功能。结果表明:通过Arduino Mega2560和Arduino Uno的上位机软件编程和多次测试,该起重运输机器人系统稳定,搬运效率和完成度较高,提高了作业效率,实现了自动化物流搬运的目的,为智能工厂的柔性化生产提供了解决方案。 相似文献
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完成一个"仓储搬运机器人控制系统设计",该系统具有导航定位、搬运货物、无线通信、安全避障和自充电功能。硬件电路采用MSP430F5438作为主控芯片,设计了电源模块、运动控制模块、导航定位模块、无线通信模块和安全避险模块。根据实际运行状况,完成了机器人软件总体框架的设计和各模块的软件设计。对各模块分别进行运行测试,达到无故障运行后,对软硬件同时进行调试。调试结果表明,该机器人控制系统满足预期要求。 相似文献
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阐述了机器人自动贴片系统的功能和结构,给出了系统的层次结构、控制系统流程和关键模块的设计思路.系统上位机软件采用.NET平台构建,硬件基于工控机、机器人、工业相机和PLC实现,系统利用视觉检测技术对机器人定位进行实时补偿.使用结果表明,该自动贴片系统具有较高的贴片精度及效率. 相似文献
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基于IPC的开放式工业机器人控制系统研究 总被引:3,自引:0,他引:3
开放性是现代机器人控制系统的实现目标之一。开放式工业机器人控制系统采用基于工业计算机(IPC)结合运动控制卡的结构形式,并借鉴ORC(Open Robot Controller)等典型的机器人控制系统软件体系结构设计了分层模块化的软件系统,使得现有的机器人控制系统只需要做少量的修改就能应用到不同的场合。 相似文献
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Jong Won Kwak Ho June Chi Kwang Mok Jung Ja Choon Koo Jae Wook Jeon Youngkwan Lee Jae-do Nam Youngsun Ryew Hyouk Ryeol Choi 《Journal of Mechanical Science and Technology》2005,19(2):578-588
Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between
the human and the machine In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer
By exploiting the properties of dielectric elastomer, it is possible to actuate the covering skin, eyes as well as provide
human-like expressivity without employing complicated mechanisms The robot is driven by seven actuator modules such eye, eyebrow,
eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles Although they are only part of the whole
set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, angry,
disgust, sadness, and happiness In the robot, each module communicates with the others via CAN communication protocol and
according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator
module A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility 相似文献
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双机器人制造系统的网络协作离线编程研究 总被引:2,自引:0,他引:2
在分析双机器人快速原型加工硬件特点和基础上,建立了双机器人离线编程系统总体结构,研究了图形数据处理、加工路径规划与仿真和后置处理等关键技术,并用IDEF方法对各功能模块进行了详细设计,研制了一套离线编程软件,实现了双机器人加工程序的自动生成,最后详细论述了用NetMeeting进行双机器人异地协作编程的系统配置和工作过程。 相似文献
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本文针对蛇形机器人最常采用的三种关节连接方式:平行连接、正交连接和万向节连接,通过典型实例进行了工作空间的分析和比较。提出了一种具有万向节功能的P—R(pitch—roll)模块,该模块结构简单、便于控制,所组成的蛇形机器人可以实现各种三维攀爬动作。最后通过所研制的新型攀爬蛇形机器人样机,验证了P—R模块的可实现和灵活性。 相似文献
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移动机器人多采用以电池为主的供电方式,并由于其电机驱动和各种功能电路的需要,需为机器人提供一个具有多种电压输出、高效节能的供电系统,并且该系统需具备电池过放,过流保护以及电量计量和故障检测等功能,因此,电源模块设计是机器人的一项关键技术。文章针对智能移动机器人平台的实际应用,设计并实现了一种智能化、高效率、高性能、高可靠性的机器人电源模块解决方案。 相似文献
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慧鱼六足仿生机器人步态研究与实现 总被引:6,自引:0,他引:6
在仿生学原理的基础上,对六足步行机器人三角步态的行走原理和稳定性进行了分析。采用慧鱼仿生机器人包搭接出六足步行机器人,进行了一系列步行的实验。并对机器人腿部机构中的足端轨迹进行了仿真与分析。结果表明该机器人能够严格按三角步态进行行走,实现诸如直线、转弯、躲避障碍物等行走功能,具有较好的机动性。 相似文献
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Paul Schumacher Musa Jouaneh 《The International Journal of Advanced Manufacturing Technology》2013,69(9-12):2055-2069
This paper reports on a prototype automated system for the disassembly of batteries from a family of electronic devices whose plastic, snap-fit covers house AA or AAA batteries, such as remote controls and calculators. Included in the development of the prototype system was the design of a disassembly tool that uses three force-sensing resistors to provide force feedback information. A pneumatically actuated vacuum gripper and electromagnet system was also developed for recovering the snap-fit cover and batteries once they were released by the disassembly tool. The disassembly module was mounted on the tool head of a three-axis translational motion robot, and a Visual Basic application was developed to interface and control the robot with a Galil digital motion controller. A model-based computer vision application was also developed in Visual C++ using a Kinect sensor and the Open Source Computer Vision library to identify and localize the electronic device placed on the disassembly robot. Using the information gathered by the model-based computer vision application, the robot was able to use the disassembly tool module to perform the necessary disassembly operations to remove the device’s snap-fit cover and batteries. The design of such a disassembly system could aid the future development of fully autonomous disassembly systems that can handle a broader range of electronic products. 相似文献
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Dr. T. N. Wong S. C. Hsu 《The International Journal of Advanced Manufacturing Technology》1991,6(4):328-345
This paper describes an experimental off-line robot-programming system. This integrated robot-programming system, PC-R, was
designed to be independent of the robot as well as to provide off-line graphics simulation of the work situation so that evaluation
of the performance could be done rapidly. PC-R comprises several modules, including (a) a robot language compiler; (b) a graphics
simulator for modelling the robot and its work environment; (c) a solid-modeller based on the CSG scheme using the technique
of ray tracing for solid analysis and visualisation, which interfaces with the simulator and performs interference analysis
of the robot programs; and (d) a link to the industrial robot ASEA IRB-6. This ASEA link module is capable of manoeuvring
the robot according to the robot programs in real time as well as saving the sequence of robot movements to the robot-controller
for later playback execution by the robot. 相似文献
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Dong-Ki Kim Jong-Ho Kim Hyun-Joon Kwon Young-Ha Kwon 《Journal of Mechanical Science and Technology》2012,26(10):3269-3276
This paper presents a design of a robot head module with touch sensing algorithms that can simultaneously detect contact force and location. The module is constructed with a hemisphere and three sensor-units that are fabricated using contact-resistance force sensors. The surface-part is designed with the hemisphere that measures 300 mm in diameter and 150 mm in height. Placed at the bottom of the robot head module are three sensor-units fabricated using a simple screen printing technique. The contact force and the location of the model are evaluated through the calibration setup. The experiment showed that the calculated contact positions almost coincided with the applied load points as the contact location changed with a location error of about ±8.67 mm. The force responses of the module were evaluated at two points under loading and unloading conditions from 0 N to 5 N. The robot head module showed almost the same force responses at the two points. 相似文献