本文選題：鋼筋端面 + 自動(dòng)貼標(biāo)�。� 參考：《機(jī)械設(shè)計(jì)與制造》2017年12期

【摘要】：為實(shí)現(xiàn)鋼鐵企業(yè)中成捆鋼筋端面貼標(biāo)的自動(dòng)化,對(duì)成捆鋼筋端面自動(dòng)貼標(biāo)系統(tǒng)中機(jī)器人的運(yùn)動(dòng)情況進(jìn)行研究,利用D-H參數(shù)法導(dǎo)出UR5機(jī)器人的各連桿坐標(biāo)系之間的變換矩陣,進(jìn)而求出UR5機(jī)器人反向運(yùn)動(dòng)學(xué)的解析解。給出了UR5機(jī)器人最優(yōu)擺放位置的評(píng)價(jià)標(biāo)準(zhǔn),并在此規(guī)則下利用粒子群優(yōu)化算法對(duì)UR5機(jī)器人進(jìn)行位置優(yōu)化。依據(jù)以上分析結(jié)果可以為成捆鋼筋端面自動(dòng)貼標(biāo)系統(tǒng)中機(jī)器人的位置設(shè)計(jì)提供理論上的支持和數(shù)據(jù)上的參考,并對(duì)該系統(tǒng)的實(shí)際應(yīng)用具有指導(dǎo)性的意義。
[Abstract]:In order to automate the labeling of the end face of steel bars in steel enterprises, the motion of the robot in the automatic labeling system of the end face of the steel bar is studied, and the transformation matrix between the coordinate system of each connecting rod of the UR5 robot is derived by using the D-H parameter method. Then the analytical solution of reverse kinematics of UR5 robot is obtained. The evaluation criteria for the optimal placement of UR5 robot are given, and the particle swarm optimization algorithm is used to optimize the position of UR5 robot under this rule. The above analysis results can provide theoretical support and data reference for the position design of the robot in the automatic labeling system for the end face of bundles of steel bars, and have instructive significance for the practical application of the system.
【作者單位】： 河北科技大學(xué)機(jī)械工程學(xué)院;
【基金】：河北省自然科學(xué)基金資助項(xiàng)目(E2017208111) 河北省科技計(jì)劃項(xiàng)目(172176135D)
【分類號(hào)】：TF345;TP242
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本文編號(hào)：2073947