Robots In The Gravimetric Analysis Of Explosives Operational Technology Research And Application

This topic comes from a chemical research institute,which needs to realize automatic control of the analysis process of insoluble components in explosives(now using the gravimetric analysis method).Therefore,this paper focuses on the automatic The links in the process that are suitable for robot operation and their operation techniques are analyzed and researched.The main research contents are as follows:(1)Demand analysis of robot operation technology.Firstly,the manual operation process and automation process of explosive gravimetric analysis method are summarized,and the links suitable for robot operation in the automation process(such as filter cup transfer,oven door switch of constant temperature and humidity oven and oven)are analyzed and studied.The key technologies of robot operation and robot operation plane layout are drawn up,and the robot is selected and designed.(2)The kinematics model and trajectory planning method of the robot are analyzed and studied.The D-H modeling and corresponding parameter calibration of the selected robot are carried out.On this basis,the forward kinematics and inverse kinematics formulas of the robot are deduced;Secondly,the robot trajectory planning in Cartesian space and joint space is analyzed and studied,and the best robot trajectory planning algorithm is determined.(3)The key technologies of robot operation are studied.Firstly,the physical characteristics of the placement point at the beginning and end of the filter cup transfer,the box door handle and its switching state are analyzed and studied,and then the type and structure of the mechanical gripper for grasping the filter cup and the box door handle are optimized.Combined with the mechanical analysis,the clamping force range and implementation mode of stable grasping and stable placement of the filter cup are obtained;Combined with the kinematics and trajectory planning theory of the robot,the workspace of the robot is optimized and determined,and the motion trajectory of the robot holding the filter cup in the workspace and the trajectory of the robot opening and closing the box door are planned;Finally,the cooperation scheme between robot and other devices(including host computer)is designed,including information interaction protocol.(4)The relevant verification experiments are completed through the robot simulation experiment platform.The experiments show that the robot operation technology studied in this paper for the automatic system of explosive gravimetric analysis has certain feasibility,which lays a research foundation for the further realization of robot operation.