A Research on Construction of Moving Base for an Industrial Robot
| Autor: | Chung-Yuan Chang, 張仲沅 |
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| Rok vydání: | 2015 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 103 This research mainly covers topics about how to generate and use a moving base within the workspace of an industrial robot arm. According to the trend of manufacturing for small amount and various products, still working plane of a robot arm no longer exists. Instead, a moving base becomes more popular and leads to a more useful circumstances for robot arms. This research adopts a robot system with a KUKA KR 5 sixx R650 robot arm, an NI1742 intelligent camera as the machine vision, a WAGO I/O module for data transferring, and a dip switch emulating data for parameters. All combines with the controller of the robot arm. The system simulates a welding process on a moving base and runs a program composed through teach pendant, The program can execute the work with parameters which describe the motion of translation and rotation of the moving base. In order to understand the position and orientation of the tool on the robot arm during process, equations of kinematics for the robot arm is derived. A tool coordinate system is attached at the end-effector of the robot arm for better visualization of moving direction. A dip switch is used to represent the coordinate parameters for moving base recognized by the machine vision. The parameters for translation and rotation are transferred to the controller of the robot arm via I/O module for generating a set of new coordinates of path planning. These will make the robot arm engage in executing the prescribed welding process on the new working plane. The results of this work can be applied to the intelligent automation industry for manufacturing and also for the purpose of education of robotics. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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