Study Of Cotton Foreign Fiber Sorting Robot Based On SCARA

As the industrial robot used in all aspects of life, the application in the textile industry will become more common. The research on robot which has the function of cotton fiber sorting can greatly reduce the labor intensity of workers, improve the production efficiency and reduce the labor cost. This is the future development of textile industry to realize intelligent direction.Industrial robot have moved fast, high repeat precision, less maintenance and so on, it is very suitable for reciprocating motion of the work environment. Firstly, according to the characteristics of the SCARA robot, the paper completed the overall structural design of the robot, which includes the design of the robot arm, forearm and the end of actuator, etc. At the same time, the model of important parts is determined.Secondly, establishing the D-H coordinate system of the robot, according to the motion model of the robot, making use of homogeneous coordinate transformation matrix of each bar, the kinematical positive solutions of robot can be got. Basing on cotton fiber sorting SCARA type robot, the paper uses a simple alternative method to evaluate the kinematics inverse solution, which can reduce a lot of complex matrix calculation, to prepare the way for subsequent robot simulation.Thirdly, the paper completed the design of the robot motion control system, and using VC software combined with the corresponding library functions to develop control panel of the cotton fiber sorting of the robot, and also had carried on the preliminary test. It also introduces the method of trajectory planning in Cartesian space and joint space, and carries on the simulation analysis using the three degree polynomial and five polynomial trajectory planning in joint space. At the same time, it analyzes the different path planning for selecting the best route.Finally, using the Robotics-Toolbox of MATLAB for cotton fiber sorting robots, the paper completed the simulation of kinematics and trajectory planning. By calling the function library in the card and writing the corresponding program to the robot movement on the actual operation, which verify the reliability of the simulation and the correctness of the motor system.