|本期目录/Table of Contents|

[1]曹智超,姚恩涛,冯嘉瑞.柔性细长管材拣选机械手同步控制技术研究[J].工业仪表与自动化装置,2022,(06):119-124.[doi:10.19950/j.cnki.cn61-1121/th.2022.06.023]
　CAO Zhichao,YAO Entao,FENG Jiarui.Research on synchronous control technology of flexible slender pipe picking manipulator[J].Industrial Instrumentation & Automation,2022,(06):119-124.[doi:10.19950/j.cnki.cn61-1121/th.2022.06.023]
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柔性细长管材拣选机械手同步控制技术研究

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2022年06期
页码:
119-124
栏目:
出版日期:
2022-12-15

文章信息/Info

Title:
Research on synchronous control technology of flexible slender pipe picking manipulator
文章编号:
1000-0682（2022）06-0000-00
作者:
曹智超; 姚恩涛; 冯嘉瑞
南京航空航天大学 自动化学院，江苏 南京 211100
Author(s):
CAO Zhichao;  YAO Entao; FENG Jiarui
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics，Nanjing Jiangsu 211100,China
关键词:
拣选机械手; 主从同步控制; 柔性配置; 定位; 无线通讯
Keywords:
picking manipulator;  master slave synchromous control;  flexible configuration;  posi--tioning;  wireless communication
分类号:
TP2
DOI:
10.19950/j.cnki.cn61-1121/th.2022.06.023
文献标志码:
A
摘要:
城市轨道列车使用的气路管材来自长细管的切割、弯曲等加工工艺过程。从托盘自动拣选到加工工位需要保证管材不产生塑性形变。该文针对不锈钢长管材的自动拣选搬运需求，研究了多支拣选机械手同步控制技术，利用主从控制方式，通过射频通讯技术实现多个机械手的动作准同步控制；采用分解动作同步策略，降低了机械手运动环节的误差积累，提高了管件搬运过程的平稳性，根据实验验证该方法具有可行性。
Abstract:
The gas pipe used by urban rail trains comes from the cutting and bending of long and thin tubes. From pallet automatic picking to processing station, it is necessary to ensure that the pipe does not produce plastic deformation. Aiming at the automatic picking of the stainless steel long pipe handling requirements, studied more than picking manipulator synchronous control technology, using the master-slave control mode, through radio frequency communication technology to achieve multiple synchronous control of the manipulator, isolations synchronization strategy, reduces the manipulator movement link error accumulation, improve the stability of the pipe handling process, The feasibility of this method is verified by experiments.

参考文献/References:

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备注/Memo

备注/Memo:
投稿日期：2022-06-25
作者简介：
曹智超（1998），男，浙江省杭州市人，硕士研究生，主要研究方向为智能蜂窝库仓储的研究及控制、自动控制技术等。
更新日期/Last Update: 1900-01-01