Poultry Carcass Segmentation Of 3P-2R Mixed Robot Kinematics Research

With the continuous improvement of living standards and more stringent laws for the protection of food safety, labor, labor shortages and rising labor costs, the increasingly acute contradictions between has become a bottleneck restricting the development of traditional industry in China. For labor-intensive meat production enterprises, the problems facing more serious and urgent need to poultry processing equipment, high-end through substitution "machine" to solve the plight of the enterprise.Aimed at domestic poultry production assembly line with artificial division of poultry production efficiency is low, poor health, employment, and strength of the actual situation, to construct a robot system, in the poultry division of ketone body in 5-DOF hybrid robot research of key technology, main research is as follows:1. Based on machine vision, robot and so on advanced technology, to construct a robot in the poultry division of ketone body system, control system according to the collected birds ketone body image and appearance of the bone, on the basis of poultry ketone body segmentation technology, the automatic programming robots and cutter's trajectories, drive robot movement, finish the automatic segmentation of poultry ketone body;2. In-depth analysis of poultry ketone body segmentation technology and the division requirements, determine the design requirements and technical parameters of the robot. Based on the traditional Delta parallel robot, this paper puts forward five degrees of freedom hybrid 3P-2R robot design. Based on the 120° symmetrical distribution, servo motor and ball screw driven 3-DOF translational parallel moving platform and moving platform is installed on the rotation mechanism, the 2-DOF serial robot at the end of the 5-DOF movement;3. Based on the theory of robot analysis,5-DOF robot kinematics analysis model is set up; Composite group characteristics of the robot, the robot model is decomposed into two parts, the parallel model and serial model respectively to analyze the robot's positive solution and the solution, then solve the robot is integrated solution and the solution, and a case of;4. The boundary conditions of the robot motion, search method based on three- dimensional space, using MATLAB Simulink module SimMechanics plug-in, to carry out the robot workspace analysis, optimization of the robot's body size;5. Based on the finite element method (fem), to carry out the robot light pole and overall static stiffness of robot research, optimize the structure size of the robot, in order to improve the stiffness of robot.