| 英文摘要 | In manufacturing, most of the industrial robots, which are built based on special controller with closure structure, are not the self-adaptive and autonoumous system; thus they can only perform some simple tasks. Moreover, the robotic system should be reconfigurable to meet the manipulation precesion of the robot because of the disturbance of uncertainties, such as the change of the environment, the differences of the objects and the error of the sensors. Thus, the robot system must be reliable, scalable and configurable to reduce the effect of the above uncertainties to meet the requirements of the established tasks. The research on the autonomous manipulations of the robot system under the active information and passive constraints improve the efficiency and production qualities. In this work, an open architecture industrial robot is built based on the method of modular and network control. Then the works on the grasping planning and assembly strategy with active information and passive constraints are discussed deeply. The works of this dissertation are the following. At first, an open-architecture industrial robot is built based on the methods of modular and network control for the requirements of reliable, scalable and configurable in manufacturing. The function of the software is described, and the relationship of each modular is also discussed. Then, the real-time motion planning method is developed on the Windows RTX; and an error-offset algorithm of NURBS interpolator is given to meet the precision of motion planning of the robot. The industrial robot system built in this work can be applied in the assembly or grinding processing. Secondly, a simple, flexible and universal four-finger gripper is developed for grasping various workpieces in the manufacturing. A novel design method that can achieve the properties of driving nine joints with four-actuators is proposed. And then, two intelligent fixture systems are built for the assembly of the piston-peg-rod and crank-rearing, respectively. Thirdly, in manufacturing, various objects, which may be placed on the worktable freely, are required to be grasped rapidly, firmly to a unique state. Most of 3D vision-based grasping planning, which is compute-complexity, will fail to grasp due to the uncertainties of sensors and the position of the fingers. Based on the conception of “attractive region”, the 2D and 3D form-closure grasping are analyzed in this work, and a sufficient condition for selectin... |
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