并联Delta机器人的传送带动态抓取系统设计

广东工业大学硕士学位论文AbstractThe 3 DOF delta robot is one of the most typical parallel Robot.It hasmany advantages,such as high movement speed,accurate location,highefficiency,light weight etc.It has been widely used in the electronic productsindustry,food packaging industry,biological pharmaceutical industry,3Dprinting.With the development of robot technology and the improvement ofpeople's living standard,It is improvement to improve the quality of productand the number of product.This article mainly took Delta robot as the research object.Firstly,itintroduced the development of industrial robots at home and abroad;thenanalyzed the forward kinematics and inverse kinematics of Delta robot,thecalibration of conveyor belt and camera;then introduced a PID trackingalgorithm and a improved tracking algorithm;moreover display the flow chartof software design of Conveyor Administor,and resolved the problem ofseveral joint data filtering,sorting,update of data status,coordination work ofmulti-robot;One of the core content of this article is the dynamic tracing of robot to themoving objects on the conveyor belt,coupled with the position of the conveyorbelt encoder feedback data.Visual system locates the object's positions thengives them to the delta robot.Conveyor Administor calculates the position ofobject in the robot coordinate system with the real-time system.Robot canpredict the object's position on the conveyor belt,and adjust their movementspeed and real-time posture to track objects on the conveyor belt in positionmode and through the improved tracking algorithm,which finally realizes thedynamic tracing to moving target object.The another core content of this articleis the operation for continuous object on a conveyor belt,in actual application,There should no missed object,so,that requires that the robot move faster,objects are followed by fetching order must plan well.In the end,the paper puts