Research On Grasping Technology Of Parallel Robot Based On Visual Positioning

In industrial production,parallel robots have been widely applied for their advantages of high degree of freedom,large working space and big load capacity.If robots are equipped with extra sensing components,such as visual sensors,speed sensors,accelerometers,etc.,the ability to acquire external information can be greatly enhanced.Among them,because of the complementarity between visual sensor and parallel robot,the application of parallel robot equipped with visual sensor is the most common.In production practice,visual-based parallel robots are mainly applied for the processing of high-precision products or the handling of heavy products,it can also replace human beings in hazardous environment or human's unreachable environment,such as biochemical accident scene,seabed,space and so on,so that human beings are free from injury.The development process of parallel robot is reviewed in this paper,the research objects and common methods of parallel robot kinematics,dynamic and control strategies are summarized.The development process and research status of machine vision and the application in industrial production is introduced.The joint application of vision and parallel robot and its application in garbage sorting are studied.The selection of hardware is determined aiming at the application of the system in garbage sorting: light source,camera body,lens,motion controller,IPC,servo motor and servo motor driver and so on.The communication between the host and the motion controller,the motion controller and servo motor driver is studied,and the setting of the electronic gear ratio is completed.The system software is designed according to the requirement of the system.The intrinsic matrix and distortion matrix is solved on the basis of camera calibration,the pixel coordinates of the target is determined by image preprocessing,the conversion between pixel coordinate and world coordinate is completed on the basis of the intrinsic parameters and external parameters matrix.The position equation of the system is studied and the velocity and acceleration of the system are analyzed on the basis of the position equation,the reverse dynamics analysis of the system is completed on the basis of position,velocity and acceleration.The difference between different programming methods is studied,and a suitable programming mode is selected to achieve three axes coordinated motion control.The accuracy of the system is verified.The correctness of the system is verified bydata acquisition in experiments,the causes of the error and the error compensation measures are analyzed,the shortcomings and the future directions of the system are pointed out.