Research On The Method Of Improving The Operation Efficiency Of Cylinder Yarn Changing And Transporting Compound Robot

China’s manufacturing industry has always been one of the major pillars of China’s economic development.As a labor-intensive industry,the textile industry occupies an extremely important position in the composition of China’s manufacturing industry.2021 June,"textile industry" fourteen five "development outline" proposed to significantly improve production efficiency and production methods refinement,flexibility,intelligent level as the goal,to the digitalization of textile equipment and information interconnection Based on the implementation of the textile industry intelligent manufacturing key projects.In weaving production,warping is a key process to ensure uniform distribution and equal tension of warp yarns on warp beams or weaving beams,however,most textile enterprises currently rely on manual handling and hanging of cylinder yarns in the warping process,which requires a lot of manpower and low efficiency and time.Therefore,in this paper,a composite robot is used to realize the automatic transfer and loading and unloading of the warp yarn in the yarn frame in the automatic production line of color weaving to improve the production efficiency of warp hanging.First of all,combined with the requirements of the cylinder yarn changing and transporting process,an experimental platform of cylinder yarn changing and transporting composite robot was built,including Minicobo collaborative robotic arm of JAKA,electric gripper with cylinder yarn gripper fingers,SSB1 model mobile platform of EAI and equal proportional cylinder yarn and yarn frame according to the upper limit of robotic arm load,to provide a basis for the research of the control method of automatic cylinder yarn changing and transporting.Secondly,for the operational requirements of the composite robot for automatic cylinder yarn transfer,the operational environment mapping method,the automatic positioning of the composite robot and the path planning strategy are investigated.The classical Gmapping mapping algorithm is improved using EKF-based inertial navigation and odometry information fusion,and elite genetic-based particle filtering algorithm,and the mapping results are visualized in RVIZ.A combined path planning approach is implemented using the improved JPS global path planning algorithm combined with local path planning.The navigation paths were visualized in the software platform,and the speed changes before and after optimization were compared.Again,the motion trajectory planning method of the jointed robotic arm in the composite robot is studied around the demand of automatic loading and unloading of the cylinder yarn.The forward and inverse motion solutions of the robot arm are derived using the D-H parameter method,the joint angles of the robot arm are solved in Matlab using the end poses,the trajectory planning results are simulated,and the motion control of the robot arm is realized by the ROS system.Finally,the cylinder yarn transfer experiment was carried out in the built composite robot experimental system,which proved that the improved composite robot,with smooth motion and fast navigation speed,can accurately achieve automatic cylinder yarn transfer and yarn hanging.