Trajectory Planning Of A Two-degree-of-Freedom Manipulator In Process Of Liquor Brewing

Chinese liquor has a unique flavor,not only to bring people the material and spiritual enjoyment,but also create enormous economic value.With the increasing demand for liquor,the traditional brewing technology of liquor can not meet the needs of the production scale of the brewing industry.Therefore,some wineries have invested in the production of brewery automation.However,as a very important part of the brewing of liquor,the operation of Shangli still needs to be done by hand.Therefore,this project will be applied to the operation of the two-degree-of-freedom manipulator,instead of manually completing the task of cloth.In order to achieve uniform cloth distribution and ensure the stability of the manipulator during the movement,this paper focuses on the trajectory planning of the two-degree-of-freedom manipulator.First of all,by consulting a large amount of literature,the process and characteristics of the brewing operation are clarified.At the same time,the two-degree-of-freedom manipulator control system is analyzed and described as a whole,and the controller of the system is selected as Siemens S7-200 series PLC.The frequency conversion control is adopted for the belt transmission materials.The SINAMICS V20 inverter is selected and the control of boom and arm is adopted Servo control,servo drive selection SINAMICS V20.By establishing a two-dimensional coordinate system,the kinematic analysis of a two-degree-of-freedom manipulator is made and a simple introduction and analysis of trajectory planning problems that require the movement path are introduced.Then,the trajectory planning algorithm of the two-degree-of-freedom robotic arm in winemaking process is emphatically introduced.Taking into account the operation of the upper initial cloth requires wine sprinkle evenly distributed in the barrel,it is given the desired path of motion for the circle circular motion path,circular interpolation algorithm for trajectory planning.The algorithm is divided into two steps,the first step is to calculate the number of circles and the radius of each circle.In the second step,the trajectory planning of each circle is performed by means of uniform interpolation.The number of interpolation sequences in each cycle is calculated to obtain the coordinates of the interpolation sequence point,and the corresponding joint vectors are obtained through diagnosis of electric furnace hydraulic system.The case database of electric furnace inverse kinematics.The algorithm is not very smooth when the actual operation of the robot arm movement,so further proposed optimization algorithm to take into account the acceleration of the arm during the movement to create a mathematical model,the paper uses genetic algorithms to solve the optimization problem,and Before the algorithm is compared,the optimized algorithm has better characteristics.Finally,the control mode of the two-degree-of-freedom manipulator is introduced and controlled by the pulse control method.Application of high-speed pulse output function of PLC PTO control,the process of evenly distributed on the process,the use of multi-stage PTO control,this control method requires the formation of the first envelope table,this paper focuses on how to reverse the joint vector table is converted to envelope table.For the fixed-point positioning on the cloth operation,the use of single-stage PTO control.In this thesis,the trajectory planning of two degree-of-freedom robotic arms in the process of brewing process was initially studied,which has realized the automatic control of process of brewing process.It is of great significance.