【作者】 聂钊； 徐宏伟； 姚国伟； 吴来祥；

【Author】 Zhao Nie;Hongwei Xu;Guowei Yao;Laixiang Wu;Xi’an University of Technology;Shaoxing Ruiqun Textile Machinery Technology Co.LTD;

【机构】 西安理工大学； 绍兴瑞群纺织机械科技有限公司；

【摘要】 当前丝网印染是非常流行的印染工艺。印花后的丝网网版清洗比较麻烦,又脏又累。本文中提出利用机械手移送印后的丝网版来进行全自动的清洗工作的方法,从而降低工人的劳动强度。在自动清洗网版时,机器人可用来移送待清洗的网版。根据机器人的结构以及工作需要,本文主要研究机器人的弧形插补算法。在这个算法中,机器人前端执行器的弧形轨迹路径被分解为一系列离散点。针对每个离散点,计算出机器人前端执行器的相应位姿。同时据此利用优化算法计算出各关节的转动角度,从而保证机器人在运动过程中其末端执行器的正确位姿。通过所制作出的移送网版机器人进行运动试验,试验结果证明了该算法的正确性和可靠性。更多还原

【Abstract】 Screen printing is very common technology in printing and dye factory,now.Silk screen which was used be clean is a born work.In this paper,robot which used in silk screen cleaning is discussed.For silk screen cleaning machine,the robot is used to transfer the silk screen which is ready to be washed.According to the structures of robot and machine,the algorithms of arc interpolation are proposed.In this algorithm,the path of robot end actuator is divided into a series of discrete points.The location and gesture of robot end actuator are computed and the motion parameters of every joint are computed by one dimension scanning optimization algorithm.The algorithm is composed and used in manipulator of robot which is used to transfer the silk screen into washing machine.The experiment results prove that the algorithm is valid and helpful.更多还原