| Most of the textile production lines in China adopt semi-automatic production mode,and the conveying and placement of raw materials in textile machines need manual assistance to complete.Therefore,it is urgent to develop and design the equipment and control system of the compound robot for special material distribution in textile workshops.In this paper,based on the establishment of an intelligent scheduling system in a production workshop,the overall structure design of the compound robot is carried out,mainly including the design of the omnidirectional moving platform and the collaborative robotic arm.Further,the overall design of the control system is carried out,including the system design of the omnidirectional mobile platform,the analysis of the dynamics model of the mobile platform,and the selection and application of the collaborative robotic arm.Then the environment modeling in path planning,as well as the heuristic factors and search methods in the traditional ant colony algorithm are improved,and the method is verified.The main research contents of this paper are as follows:The functions of the overall equipment were analyzed in detail according to the requirements,and the overall design of the omnidirectional mobile platform was carried out.From the economic point of view,the magnetic stripe navigation method of "magnetic stripe navigation+inertial navigation+radio frequency identification technology" is selected,and the shape characteristics of different cross-sections of the robot arm are determined by calculation.According to the material transportation demand of textile workshop,the overall scheme of the control system is designed,including the selection and application of the upper computer as well as the lower computer,the design of the power detection circuit,the design of the controller local network bus communication interface,serial communication,and environment perception.The dynamics model of the mobile platform is also analyzed and calculated to provide a theoretical basis for fast and accurate control of the vehicle motion.The path planning algorithm in the control system is improved and optimized from the initial environment modeling of the workshop,and the traditional quadrilateral raster map is changed to a hexagonal raster map for modeling.The heuristic factor in the traditional ant colony algorithm is added to the starting and ending distance factors to prompt the ant colony to choose the optimal path more quickly and reasonably in the process of searching.The oneway search is changed into two-way search to accelerate the search efficiency.The simulation results show that the minimum path length is optimized by 18.95%and the number of iterations is reduced by 46.46%.This paper provides a theoretical basis for the transformation and upgrading of the current manual-assisted material distribution in textile workshops to automated workshops by designing the structure,function and control system of the composite robot for material distribution in textile workshops,and verifies the feasibility through simulation experiments,and the results can be promoted and applied to other fields in the textile industry. |
PDF Full Text Request