Sensor module design and forward and inverse kinematics analysis of 6-DOF sorting transferring robot

2017 2nd International Seminar on Advances in Materials Science and Engineering

Zhou, Huiying^1 ; Lin, Jiajian^1 ; Liu, Lei^1 ; Tao, Meng^1

Department of Mechanical Design, Manufacturing and Automation, Anhui University, Hefei, China^1

关键词: Application requirements;    Closed solutions;    External informations;    Feed back information;    Forward and inverse kinematics;    Infra-red sensor;    Multiple degrees of freedom;    Pose estimation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/231/1/012091/pdf
DOI  :  10.1088/1757-899X/231/1/012091

来源: IOP

【 摘 要 】

To meet the demand of high strength express sorting, it is significant to design a robot with multiple degrees of freedom that can sort and transfer. This paper uses infrared sensor, color sensor and pressure sensor to receive external information, combine the plan of motion path in advance and the feedback information from the sensors, then write relevant program. In accordance with these, we can design a 6-DOF robot that can realize multi-angle seizing. In order to obtain characteristics of forward and inverse kinematics, this paper describes the coordinate directions and pose estimation by the D-H parameter method and closed solution. On the basis of the solution of forward and inverse kinematics, geometric parameters of links and link parameters are optimized in terms of application requirements. In this way, this robot can identify route, sort and transfer.