The Research Of Glass-online Stacking System Based On The Industrial Robot

After the research of domestic and international development of glass onlinestacking industry and combined with the existed smart stacking robot, this paperdesigned a glass stacking system based on the industrial robot. Kinematic analysis andtrajectory planning were done, ultimate the glass online stacking job were realized.First, according to the operating type, designed the end effector of the system. Theend effector is the implementation component of the system, according to the glass on-line stacking type designed the suction cup holder. According to glass weight, size andother specific conditions to design gas system; according to the specific workconditions and actual requirements of the glass on-line stacking system, select thevacuum generator and other key components, finally completed the system.Creaded the3D solid model of the industrial robot IRB2400with Pro/E software.Relations based on joint space coordinate, established the D-H model, then calculatedand got the six joints transformation coordinates, thus got the kinematic equations. Theforward kinematics solution based on the use of the analytical method for solving theinverse kinematics problem, and multiplicity of solutions are analyzed. Cubicpolynomial function of the robot trajectory planning in joint space. Uses the key pointsof the glass stacking process to make the three polynomial, received the drivefunctions of all the axises, thus completing the system trajectory planning.Add driver and driver parameters to the three-dimensional solid model in Pro/EMechanism module, according to the result of kinematics and the system trajectoryplanning curve to simulation, at the same time to simulate the whole process ofplanning trajectories, and kinematic analysis, finally, show the rationality andfeasibility of the trajectory planning used experimental. The significance of the studyis to improve the work efficiency of the industrial robot system, to provide data forsystem programming, as well as to provide theoretical guidance for the operation ofindustrial robot systems.