本文選題：以太網(wǎng) + 測量��； 參考：《華北理工大學》2017年碩士論文

【摘要】：以信息技術(shù)與制造業(yè)加速融合為主要特征的智能制造成為全球制造業(yè)發(fā)展的主要趨勢,基于機器人的柔性化生產(chǎn)將成為未來制造業(yè)的主要生產(chǎn)模式。測量機器人是面向工業(yè)計量領(lǐng)域的坐標測量技術(shù),特別適合柔性加工系統(tǒng)中的工序間和過程測量。分析了測量機器人系統(tǒng)的組成和工作過程,深入研究了庫卡KR5 ARC和KR C4機器人系統(tǒng),建立了測量機器人現(xiàn)場坐標系并完成標定,實現(xiàn)了系統(tǒng)信號通信和軟件流程,能夠為柔性視覺測量提供技術(shù)支持和實現(xiàn)手段。主要研究工作內(nèi)容如下:1)建立了測量機器人現(xiàn)場坐標系并完成標定。根據(jù)機器人應用的一般原則建立了多個現(xiàn)場坐標系,借助靶標和測量臂完成傳感器坐標系到中間坐標系,再到工件坐標系的坐標變換關(guān)系,將機器人各測量姿態(tài)的傳感器坐標系統(tǒng)一到工件坐標系。2)離線測量機器人系統(tǒng)組成及工作過程研究。分析了離線測量機器人系統(tǒng)主要組成部分的特點和作用,利用現(xiàn)有實驗條件組建了由以庫卡機器人系統(tǒng)為運動單元、以測量計算機為控制單元的離線測量系統(tǒng)。3)基于以太網(wǎng)的通信機制研究。采用以太網(wǎng)實現(xiàn)機器人系統(tǒng)和測量計算機之間的通信,根據(jù)測量機器人系統(tǒng)工作過程確定所需的請求類信號和完成類信號,并將信號根據(jù)XML協(xié)議進行封裝。4)測量機器人系統(tǒng)程序設計。分析了機器人不同運動方式的特點,采用自頂向下的設計思想將機器人程序劃分為工件選擇層、軌跡選擇層和軌跡測量層,并進行了結(jié)構(gòu)化設計與實現(xiàn);從測量系統(tǒng)工作過程中抽象出不同的狀態(tài)和行為,采用狀態(tài)模式設計測量計算機軌跡控制模塊程序。
[Abstract]:Intelligent manufacturing, which is characterized by the acceleration of integration of information technology and manufacturing industry, has become the main trend of global manufacturing development. Flexible production based on robot will become the main production mode of manufacturing industry in the future. Measuring robot is a coordinate measuring technology in the field of industrial metrology, which is especially suitable for interworking and process measurement in flexible machining system. The composition and working process of the measurement robot system are analyzed. The KR5 ARC and KRC4 robot systems are deeply studied. The field coordinate system of the measuring robot is established and calibrated. The system signal communication and software flow are realized. It can provide technical support and implement means for flexible vision measurement. The main work of this paper is as follows: (1) the field coordinate system of the measuring robot is established and calibrated. According to the general principles of robot application, several field coordinate systems are established, and the coordinate transformation from sensor coordinate system to intermediate coordinate system and then to workpiece coordinate system is completed with the aid of target and measuring arm. The composition and working process of an off-line measuring robot system are studied by unifying the sensor coordinate system of each attitude measurement of the robot to the workpiece coordinate system. The characteristics and functions of the main components of the off-line measurement robot system are analyzed. By using the existing experimental conditions, the Kuka robot system is used as the motion unit. The communication mechanism based on Ethernet is studied in the offline measurement system. 3, which takes the measurement computer as the control unit. Ethernet is used to realize the communication between the robot system and the measuring computer. According to the working process of the measurement robot system, the required signal of request class and the signal of completion class are determined. And the signal is encapsulated according to XML protocol. 4) the system program of measuring robot is designed. The characteristics of different motion modes of robot are analyzed. The robot program is divided into workpiece selection layer, trajectory selection layer and trajectory measurement layer by using top-down design idea, and structural design and implementation are carried out. Different states and behaviors are abstracted from the working process of measurement system, and the program of trajectory control module of measuring computer is designed by state mode.
【學位授予單位】：華北理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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