Design And Implementation Of Teaching System For Four Dof Palletizing Robot

Palletizing robot is an important equipment of modern automated production line,which takes material handling and stacking work of automated production line, and is an important hub for improving the efficiency of the entire automated production line.Adopting teaching playback mode, palletizing robot can complete the work according to different requirements, so there is practical application significance to design and implement teaching system. Teaching methods experience three stages: pushing the end of the robot, controling the movement by teaching box, controling the virtual robot movement. It has gone from actual to virtual development process. Based on teaching playback mode, teaching system combined with online teaching and virtual teaching for palletizing robot, and it provided two alternative teaching ways to reduce the difficulty of teaching work.To accomplish the foregoing, based on the needs of teaching, the teaching system with online and virtual teaching was designed and implemented on Windows system for the four degrees of freedom palletizing robot developed domestic in the thesis. Firstly,with the analysis of teaching function, the online and virtual teaching functionality was determined, and the overall system architecture was designed. Secondly, with direct connection, the touch-screen display and PS/2 keyboard input were selected as the instruction, and the keyboard chip was chosen to layout so that the hardware foundation was achieved. Thirdly, in order to avoid penetration in virtual robot teaching process,k-DOPs was used, and the dynamic dimensions were adopted to improve the original k-DOPs. Then, according to object density in space, fixed dimensions and dynamic dimensions of the bounding box collision detection were chosen. Finally, based on the above, the teaching system was developed using C #, C ++ and OpenGL jointly,including the palletizing data block editing, teaching, automatic operation, homing,maintenance, and virtual teaching.This thesis designed and accomplished the teaching system to meet the requirements, and offered two alternative teaching approaches. Through the improved collision detection algorithm, detection speed on the virtual teaching is improved. The work of this thesis meets the actual needs of the project, and has economic value.