基于Dobot机械臂的包装自动线运动规划与仿真

Motion Planning and Simulation of Automatic Packaging Line Based on Dobot Manipulator

中文关键词: 包装自动线  机械臂  运动规划  虚拟仿真

英文关键词: automatic packaging line  manipulator  motion planning  virtual simulation

中文摘要:

      目的 针对手工包装作业劳动强度大、生产速率低、一致性差等问题，基于Dobot轻型机械臂设计一种针对校园纪念品包装的自动化线。方法 首先对自动包装线各工序进行分析，确定各工步关键路径点，对各工序内的工步机械臂运动进行轨迹规划。其次利用Robotics Toolbox工具箱建立机械臂仿真模型，进行运动仿真分析。最后联合Matlab和Inventor进行可视化运动虚拟仿真。结果 运动仿真结果显示，在机械臂执行轨迹规划任务过程中各关节角位移无突变，且角速度和角加速度曲线平滑，能保证机械臂运行平稳，可视化虚拟仿真显示机械臂运行平顺。结论 证明各工序机械臂运动规划可行，符合各工步任务要求，可以满足包装自动化任务要求。

英文摘要:

      The work aims to design an automatic line for campus souvenir packaging based on the Dobot light-weight manipulator to solve the problems of high labor intensity, low production rate and poor consistency in manual packaging operations. First, each process of the automatic packaging line was analyzed to determine the critical path points of each process step, and plan the manipulator motion trajectory in each process step. Secondly, the Robotics Toolbox was used to establish a simulation model of the manipulator for motion simulation analysis. Finally, the visual motion virtual simulation was carried out by combining Matlab and Inventor. The motion simulation results showed that there was no sudden change in the angular displacement of each joint during the execution of the trajectory planning task, and the angular velocity and angular acceleration curves were smooth, which could ensure the smooth operation of the manipulator. The visual virtual simulation showed that the manipulator ran smoothly. It is proved that the motion planning of the manipulator in each process is feasible and can meet the requirements of each process step and packaging automation task.