Study on the Control System of the Wheel Hanging Workbench
This paper describes a wheel hanging robot system that consists of a roller screw with a mounted 6 DOF manipulator and a visual workbench.It is designed to navigate autonomously and hangs wheels on the hook in the car wheel spray paint line.At the end of manipulator there is a holder used to catch and hang wheels.In order to achieve a better quality of spraying,a visual workbench can rotate the wheel to identify the rims circumference.Thus the valve hole can be identified and positioned with the mounted camera automatically.The whole control system of the wheel hanging robot system includes the manipulator control system,the mobile platform control system,and the rotating platform control system.Experimental results are shown that the wheel hanging robot system can position the valve hole of the wheels and hang wheels automatically.
Wheel hanging robot Visual workbench Redundant manipulator
Chaokun Ma Naijian Chen Changchun Li Longtao Liu
College of Mechanical Engineering,University of Jinan,Jinan,China
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
181-192
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）