Research And Design Of The Projectile Body Carrying Manipulator Based On Visual Localization

At present,most of the processing methods of waste projectile body are used to deal with the destruction of the way,this will result in a lot of waste of resources,and the risk is relatively high.In order to improve the utilization ratio of the projectile body,a military factory deals with the old projectile body by expanding the diameter to meet the needs of the new projectile.This treatment method can improve the utilization rate of the projectile,thus saving a large amount of military spending,and speeding up the development of China's military modernization.The article mainly designs a manipulator system which can realize the automatic production of body pressing-explosive work.Based on the visual localization of the missile carrying manipulator,the research contents of this article mainly include:(1)A design of manipulator structure,and the 3D structure of the manipulator is plotted by Solidworks software.Because the manipulator adopts hydraulic drive,it is required to take into account the arrangement of the hydraulic cylinder and the motor in the design of the manipulator,so as to reduce the volume of the manipulator;(2)A design of manipulator hydraulic system,and fix the pressure and flow of the system,and select model for each hydraulic component.What's more,the article checks the performance of the whole hydraulic system;(3)A type selection of light source,camera,lens and frame grabber for the vision system,and the use of Lab VIEW software design program to acquisition and processing of the projectile body,so that we can obtain the center coordinate of the projectile body;(4)A simulation of Mathematical modeling and physical modeling for the whole hydraulic system.In mathematical modeling,using the co-simulation of LabVIEW and Simulink,to get the stability of the system and step response time;the physical modeling using AMESim simulation is the main about pump,valve and hydraulic cylinder flow,pressure and other characteristics,is mainly used to verify the properties of hydraulic system;(5)A reasonable layout for the whole system and design a set of control system.And design of PC operating interface and the next bit machine PLC program;(6)Through the experiment,the accuracy of the manipulator is verified,and the electro-hydraulic servo position control is carried out,thus the response curve of the hydraulic cylinder is obtained and compared with the simulation curve.