毕业论文范文(优秀模板)教程.doc

PAGE II 智能搬运机器人运动控制算法实现与路径规划实现 摘要：本课题将研制桁架式搬运机械手，实现书帖码垛的自动化；该装置与堆积打捆装置连线，采用光栅技术判别打捆后的书帖到达正确位置，电机驱动机械手进行二维动作，将台架上打好包的书帖按要求放置在规定货盘上，当达到设定堆积高度后，自动完成该货盘的移动及下一货盘的码放到位，保证整条生产线正常运转。同时书帖转运实现自动化及数据化处理，节省人工的同时实现书刊生产管理智能化。 桁架式搬运机械手的运动方式是可以实现X、Y、Z轴方向的直线运动。可实现自动控制、可重复编程、多自由度、运动自由度建成空间直角关系的、多用途的操作机。作为一种相对成本较低的自动化机器人系统解决方案，可以应用于各种工业生产领域，实现上下料、工件搬运等繁琐劳动，在替代人工、提高生产效率、稳定产品???量等方面都具备显著的作用。 关键词: 桁架式搬运机械手、书帖码垛的自动化、光栅技术、二维动作 Implementation of motion control algorithm and path planning for intelligent transportation robot Abstract: This dissertation will develop truss manipulator, automatic book stacking and accumulation of the device; the bundling device connection, using grating technique to determine the bundled book to arrive at the correct position, the motor drives the mechanical hand for two-dimensional movements, stand on the packed books according to the provisions of the requirements placed on pallets and when the set stacking height, automatically moving the pallet and placed under a pallet in place, to ensure the normal operation of the whole production line. At the same time the book transport automation and data processing, saving labor and production management and intelligent. The movement way of truss manipulator can be achieved X, Y, Z axis linear motion. It can realize the automatic control, can repeat programming, multi degree of freedom, freedom of movement of built space rightangle relationship, operation of multi-purpose machine. As a relatively low cost of self Action robot system solutions, can be used in various fields of industrial production, to achieve material, workpiece handling complicated labor, in the substitution of artificial, improve production efficiency, stable product quality have significant role.? Keywords: Truss type manipulator, automatic book stacking grating technology, two-dimensional motion 目 录 中文摘要…………………………………………………………………………………Ⅰ 英文摘要…………………………………………………………………………………Ⅱ 1 绪论……………………………………………………………………………………1 1.1 背景介绍……………………………………………………