民用炸药生产线分拣机械手的设计研究
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摘要
随着工业生产领域自动化程度的不断提升,民用炸药生产也逐步向自动化过渡,特别是分拣单元,一直是人工进行,不仅效率低,而且危险系数较高。该文设计的分拣机械手,基于人工智能,可以很好地替代人工分拣,并采用无定标视觉系统对机械手进行控制,使机械手形成一个高度非线性和不断变化的复杂力学系统。可以很好地提高机械手控制的收敛速度,使其运动轨迹更加平滑。
With the increasing degree of automation in the field of industrial production,Civil explosives production is also gradually transition to automation.In particular, the sorting unit has been manually operated, not only low efficiency, but also high risk coefficient.The sorting manipulator designed in this paper, Based on artificial intelligence, can replace artificial sorting.And use the uncalibrated visual system to control the manipulator,The manipulator forms a highly nonlinear and ever-changing complex mechanical system.It can improve the convergence rate of manipulator control very well, and make the trajectory more smooth.
With the increasing degree of automation in the field of industrial production,Civil explosives production is also gradually transition to automation.In particular, the sorting unit has been manually operated, not only low efficiency, but also high risk coefficient.The sorting manipulator designed in this paper, Based on artificial intelligence, can replace artificial sorting.And use the uncalibrated visual system to control the manipulator,The manipulator forms a highly nonlinear and ever-changing complex mechanical system.It can improve the convergence rate of manipulator control very well, and make the trajectory more smooth.
引文
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[5]张毅.基于自动生产线的仿真教学系统设计与研究[D].南京理工大学,2014
[2]李斯兴.加强技能素质培训,培养高等技术应用性人才[J].职业纵横,2001.
[3]张接信.组合机床及其自动化[M].北京:人民交通出版社,2009.
[4] Jong Gye Shin, Sug Je Sohn. Simulation-Based Evaluation of Produetivity for the Design of an Automated Fabrication Work-shop in shipbuiliding.Journd of Ship production,2000.
[5]张毅.基于自动生产线的仿真教学系统设计与研究[D].南京理工大学,2014