The Research On Driving And Positioning Of Non-gripping Objects

For the objects with the features of easily broken and deformable, it is inappropriate to movethem with traditional gripping method, especially under the extreme conditions such as hightemperature, high radiation and strong magnetic fields. So the main task of this project is to design amechanical structure to drive and position these objects.By analyzing the operating mechanism of “pizza spade”, we design the prototype to drive thenon-Gripping Objects based on the principle of friction, and use ultrasonic motor to drive it. Thenanalyze and select the specific friction model, do the kinematics analysis and get the equation ofmotion of these objects. At the same time, ADAMS software is used to do the kinematics simulationof virtual prototype. The main task of the simulation is to analyze the friction coefficient how to affectthe motion of these objects. In the end, we plan these objects’motion.On the basis of motion controller and computer vision systems, the hardware platform of thecontrol system is built. On this platform, we select the C#programming language to develop a controlsystem software to control the machine. By analyzing the specific software needs, we complete asingle ultrasonic motor PID control module, computer vision system calibration and objectlocalization module, and then finalize the design of control system.Finally, the prototype system is debugged, and we do some specific experimental study, analyzethe experimental data, then we obtain movement of these objects.