Design and Research of 5 DOF Material Handling Robot

2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM) Pub Date : 2022-11-18 DOI:10.1109/WCMEIM56910.2022.10021498

Zhuangchao Zhan, Xingguo Han

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Abstract

Robots have the characteristics of perception, decision-making and execution, and are widely used in manufacturing. In practical production, mobile robots are increasingly widely used as the main part of material handling robots. Based on these reasons, this paper designs the 5 DOF material handling robot. The robot is loaded with Cortex-M3 kernel, which is composed of patrol module, mobile module, multifunctional module, task setting and image recognition. The tracking differentiator and PID algorithm are used for the velocity planning and control adjustment to improve movement stability and control accuracy of the robot. The experimental results show that the robot can complete the functions of autonomous patrol, material clamping and handling, task acquisition, color recognition and information display. It has the characteristics of small size, material grabbing, high degree of automation and simple maintenance. Its diversified functions can meet the dangerous and heavy handling tasks in production, and its high automation level can improve production efficiency.

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五自由度物料搬运机器人的设计与研究

机器人具有感知、决策和执行的特点，在制造业中应用广泛。在实际生产中，移动机器人作为物料搬运机器人的主要组成部分，得到越来越广泛的应用。基于这些原因，本文设计了五自由度物料搬运机器人。该机器人装载Cortex-M3内核，由巡逻模块、移动模块、多功能模块、任务设置模块和图像识别模块组成。采用跟踪微分器和PID算法进行速度规划和控制调整，提高了机器人的运动稳定性和控制精度。实验结果表明，该机器人能够完成自主巡逻、物料夹紧搬运、任务采集、颜色识别和信息显示等功能。具有体积小、抓料方便、自动化程度高、维护简单等特点。其多样化的功能可以满足生产中危险和繁重的搬运任务，其高自动化水平可以提高生产效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2022 5th World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

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