本文選題：以太網(wǎng) + 測量��； 參考：《華北理工大學(xué)》2017年碩士論文

【摘要】：以信息技術(shù)與制造業(yè)加速融合為主要特征的智能制造成為全球制造業(yè)發(fā)展的主要趨勢,基于機(jī)器人的柔性化生產(chǎn)將成為未來制造業(yè)的主要生產(chǎn)模式。測量機(jī)器人是面向工業(yè)計(jì)量領(lǐng)域的坐標(biāo)測量技術(shù),特別適合柔性加工系統(tǒng)中的工序間和過程測量。分析了測量機(jī)器人系統(tǒng)的組成和工作過程,深入研究了庫卡KR5 ARC和KR C4機(jī)器人系統(tǒng),建立了測量機(jī)器人現(xiàn)場坐標(biāo)系并完成標(biāo)定,實(shí)現(xiàn)了系統(tǒng)信號通信和軟件流程,能夠?yàn)槿嵝砸曈X測量提供技術(shù)支持和實(shí)現(xiàn)手段。主要研究工作內(nèi)容如下:1)建立了測量機(jī)器人現(xiàn)場坐標(biāo)系并完成標(biāo)定。根據(jù)機(jī)器人應(yīng)用的一般原則建立了多個(gè)現(xiàn)場坐標(biāo)系,借助靶標(biāo)和測量臂完成傳感器坐標(biāo)系到中間坐標(biāo)系,再到工件坐標(biāo)系的坐標(biāo)變換關(guān)系,將機(jī)器人各測量姿態(tài)的傳感器坐標(biāo)系統(tǒng)一到工件坐標(biāo)系。2)離線測量機(jī)器人系統(tǒng)組成及工作過程研究。分析了離線測量機(jī)器人系統(tǒng)主要組成部分的特點(diǎn)和作用,利用現(xiàn)有實(shí)驗(yàn)條件組建了由以庫卡機(jī)器人系統(tǒng)為運(yùn)動(dòng)單元、以測量計(jì)算機(jī)為控制單元的離線測量系統(tǒng)。3)基于以太網(wǎng)的通信機(jī)制研究。采用以太網(wǎng)實(shí)現(xiàn)機(jī)器人系統(tǒng)和測量計(jì)算機(jī)之間的通信,根據(jù)測量機(jī)器人系統(tǒng)工作過程確定所需的請求類信號和完成類信號,并將信號根據(jù)XML協(xié)議進(jìn)行封裝。4)測量機(jī)器人系統(tǒng)程序設(shè)計(jì)。分析了機(jī)器人不同運(yùn)動(dòng)方式的特點(diǎn),采用自頂向下的設(shè)計(jì)思想將機(jī)器人程序劃分為工件選擇層、軌跡選擇層和軌跡測量層,并進(jìn)行了結(jié)構(gòu)化設(shè)計(jì)與實(shí)現(xiàn);從測量系統(tǒng)工作過程中抽象出不同的狀態(tài)和行為,采用狀態(tài)模式設(shè)計(jì)測量計(jì)算機(jī)軌跡控制模塊程序。
[Abstract]:Intelligent manufacturing, which is characterized by the acceleration of integration of information technology and manufacturing industry, has become the main trend of global manufacturing development. Flexible production based on robot will become the main production mode of manufacturing industry in the future. Measuring robot is a coordinate measuring technology in the field of industrial metrology, which is especially suitable for interworking and process measurement in flexible machining system. The composition and working process of the measurement robot system are analyzed. The KR5 ARC and KRC4 robot systems are deeply studied. The field coordinate system of the measuring robot is established and calibrated. The system signal communication and software flow are realized. It can provide technical support and implement means for flexible vision measurement. The main work of this paper is as follows: (1) the field coordinate system of the measuring robot is established and calibrated. According to the general principles of robot application, several field coordinate systems are established, and the coordinate transformation from sensor coordinate system to intermediate coordinate system and then to workpiece coordinate system is completed with the aid of target and measuring arm. The composition and working process of an off-line measuring robot system are studied by unifying the sensor coordinate system of each attitude measurement of the robot to the workpiece coordinate system. The characteristics and functions of the main components of the off-line measurement robot system are analyzed. By using the existing experimental conditions, the Kuka robot system is used as the motion unit. The communication mechanism based on Ethernet is studied in the offline measurement system. 3, which takes the measurement computer as the control unit. Ethernet is used to realize the communication between the robot system and the measuring computer. According to the working process of the measurement robot system, the required signal of request class and the signal of completion class are determined. And the signal is encapsulated according to XML protocol. 4) the system program of measuring robot is designed. The characteristics of different motion modes of robot are analyzed. The robot program is divided into workpiece selection layer, trajectory selection layer and trajectory measurement layer by using top-down design idea, and structural design and implementation are carried out. Different states and behaviors are abstracted from the working process of measurement system, and the program of trajectory control module of measuring computer is designed by state mode.
【學(xué)位授予單位】：華北理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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