Research On Design And Control Technology Of Automatic Loading And Unloading System For Diamond Production Line

In recent years,diamond production,as a traditional industry,is developing towards unmanned and automatic direction.The rapid development and wide application of robot technology provide the possibility to solve the automation of diamond production line.According to the characteristics and requirements of the production line,a mobile manipulator is designed to solve the problem of automatic loading and unloading.In this thesis,the loading and unloading condition of diamond production line is analyzed,and the automatic loading and unloading scheme with mobile manipulator as the core is determined.According to the characteristics and requirements of the loading and unloading environment of the production line,the design requirements of the mobile manipulator are put forward,and the structural design of the manipulator is completed.Mathematical modeling is carried out on the manipulator,the manipulator coordinate system is established,D-H parameters are determined by D-H post-coordinate system,forward kinematics matrix and inverse kinematics analytic solutions of the robot arm are solved,and the manipulator is modeled in Matlab Robotics Toolbox and the manipulator workspace was solved by Monte Carlo method.By analyzing the working space,the designed manipulator can meet the requirements of loading and unloading materials in the production line.Based on the analysis of the internal structure of the cubic press of diamond production equipment,a special clamping device for loading and unloading is developed,and a control system of clamping device based on STM32 is designed based on the structural function.The function of grasping materials by the clamping device was realized by sending control commands through the serial port,and the feasibility of the control software is verified.Based on the robot operating system ROS and Gazebo,the robot arm simulation platform is built and Move It! is used.The terminal path planning of cubic spline interpolation is realized in Cartesian space,and the trajectory planning of joint space is realized by TOPF algorithm.Use Move It! The manipulator in Gazebo is controlled to realize the motion simulation of loading and unloading.The simulation results show that the manipulator can successfully complete the loading and unloading task.The AGV structure scheme of the manipulator mobile platform with lidar,camera,IMU and other sensors is designed.The MODULAR method is used to model THE AGV in ROS,and the production line environment model is established.Using Gmapping algorithm based on particle filter,the 2D occupied raster map of the environment is established.AMCL algorithm is used for global real-time positioning on the established map,and A* algorithm and TEB algorithm are used for global and local path planning.The navigation simulation experiment is carried out in Gazebo,and the simulation results show that AGV can navigate to the target position independently and avoid obstacles,which can meet the application requirements of the production line.