作　　者： ; ; ; ; ;

机构地区： 华南理工大学机械与汽车工程学院

出　　处： 《组合机床与自动化加工技术》 2014年第3期107-110,共4页

摘　　要： 针对目前螺丝锁付机器人作业对夹具定位工件精度要求高,不能自行校正工件孔位偏差等问题,分析工件偏差产生机理,结合HexSight图像处理软件,提出基于视觉定位的偏差补偿算法,自行校正螺丝孔位偏差,降低夹具对工件定位精度的要求;同时对螺丝锁付路径没有进行合理规划的问题,分别使用传统遗传算法和改进遗传算法对螺丝锁付路径进行优化,并给出了螺丝锁付优化路径图;实验表明该控制系统稳定可靠,螺丝锁付效率及准确度得到显著提高。 Based on Screws Fastening Robot cant Self-Calibration position deviation caused by workpiece＇ s localization and the large amount of fastening screw holes,after analyzing the mechanism of those errors using HexSight image processing software,The bias compensation algorithm based on vision position which will self calibrate screw holes＇ position deviation was proposed,Therefore reduce the requirement of workpiece positioning accuracy.Problems of screw fastening path without reasonable planning,It used traditional genetic algorithm and improved genetic algorithm to optimize screws fastening path to increase the efficiency of screws fastening.This control system was proved to be stable and reliable and significantly improved screw fastening the efficiency and accuracy by experiments.

关 键 词： 螺丝锁付机器人 视觉定位 路径优化

领　　域： [机械工程] [金属学及工艺]