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外文资料--封口机器人.pdf

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外文资料--封口机器人.pdf

INTERNATIONALJOURNALOFENGINEERINGANDTECHNOLOGYVOLUME2NO10,OCTOBER,2012ISSN204934442012–IJETPUBLICATIONSUKALLRIGHTSRESERVED1717ANINVERSEKINEMATICANALYSISOFAROBOTICSEALERAKINOLAAADENIYI1,ABUBAKARMOHAMMED2,ALADENIYIKEHINDE31DEPARTMENTOFMECHANICALENGINEERING,UNIVERSITYOFILORIN,ILORIN,NIGERIA2DEPARTMENTOFMECHANICALENGINEERING,FEDERALUNIVERSITYOFTECHNOLOGY,MINNA,NIGERIA3DEPARTMENTOFSCIENCELABORATORYTECHNOLOGY,RUFUSGIWAPOLYTECHNIC,OWO,NIGERIAABSTRACTAPLANARROBOTICSEALINGORBRANDSTAMPINGMACHINEISPRESENTEDFORANAUTOMATEDFACTORYLINETHEAPPROPRIATETIMETOSEALORTOSTAMPANOBJECTISBASICALLYDETERMINEDBYAMOTORCONTROLLERWHICHRELIESCRITICALLYONWHETHERORNOTTHEOBJECTISINTHEBESTPOSITIONTHEEXTENTOFPROTRACTIONANDRETRACTIONOFTHEPISTONHEADISLARGELYDICTATEDBYANINFRAREDSENSORGIVENTHEEXTENTTOPROTRACTORRETRACTTHEPISTONHEAD,THEANGULARDISPLACEMENTSOFTHELINKREQUIREDAREDETERMINEDUSINGTHEINVERSEKINEMATICIKTECHNIQUESTHEINERTIAANDGRAVITYEFFECTSOFTHELINKSHAVEBEENIGNOREDTOREDUCETHECOMPLEXITYOFTHEEQUATIONSANDTODEMONSTRATETHETECHNIQUEKEYWORDSFORWARDKINEMATICS,INVERSEKINEMATICS,ROBOTICS,SEALER1INTRODUCTIONANAUTOMATEDFACTORYUSESANUMBEROFMECHANICALLINKSELECTRONICALLYCONTROLLEDTOACHIEVETASKSTHEBENEFITSOFFACTORYAUTOMATIONAREMANYANDOFSTRATEGICIMPORTANCETOMANAGEMENT1STANDARDMECHANICALLINKSAREUSUALLYPOWEREDWITHELECTRICALMOTORS,PNEUMATICSYSTEMSORSOLENOIDSINAMANUALLYOPERATEDMACHINE,THEHUMANPERFORMSVISUALCHECKSANDOTHERSTANDARDCHECKSTHATARETOBEREPLICATEDBYAUTOMATIONTHEINTERESTOFTHISWORKISCENTEREDONAHYPOTHETICALSEALINGMACHINEWHICHISUSEDFORSTAMPINGSOMESIGNATURESANDLOGOSASDONEINABRANDINGFACTORYLINEINVERSEKINEMATICANALYSISISAPPLIEDTOENABLEUSDETERMINEANGULARDISPLACEMENTSOFTHELINKKINEMATICSINVOLVESTHESTUDYOFMOTIONWITHOUTCONSIDERATIONFORTHEACTUATINGFORCESINVERSEKINEMATICSIKISAMETHODFORDETERMININGTHEJOINTANGLESANDDESIREDPOSITIONOFTHEENDEFFECTORSGIVENADESIREDGOALTOREACHBYTHEENDEFFECTORS1AFEASIBILITYOFUSINGAPIDCONTROLLERWASSTUDIEDBYNAGCHAUDHURI2FORASLIDERCRANKMECHANISMBUTWITHOUTANOFFSETTOLANIETAL3REVIEWEDANDGROUPEDTHETECHNIQUESOFSOLVINGINVERSEKINEMATICSPROBLEMSINTOSEVENTHETECHNIQUESARETHENEWTONRAPHSON’SMETHODANDITSOTHERVARIANTSTHEREARETHEJACOBIANANDTHEVARIANTSWITHPSEUDOINVERSEOTHERWISEKNOWNASTHEMOOREPENROSEINVERSEFORSQUAREORNONSQUAREJACOBIANOTHERMETHODSARETHECONTROLTHEORYBASEDANDTHEOPTIMISATIONTECHNIQUESANUMBEROFAUTHORS1,47HAVEPROPOSEDALGORITHMSFORSOLVINGIKPROBLEMSWHICHINCLUDEBUTNOTLIMITEDTONEURALNETWORKALGORITHM,CYCLICCOORDINATEDESCENTCLOSUREANDINEXACTSTRATEGY,BUTLIKEEVERYOTHERTECHNIQUESFORAGIVENPROBLEMTHECHOICEOFMETHODDEPENDSONTHESPECIFICSOFTHEPROBLEMBUSS8DISCUSSEDTHEJACOBIANTRANSPOSE,THEMOOREPENROSEANDTHEDAMPEDLEASTSQUARESTECHNIQUESINTERMSOFCOMPUTATIONALCOST,THEJACOBIANTRANSPOSEMETHODISTHECHEAPBUTCANPERFORMPOORLYBASEDONTHEROBOTCONFIGURATIONSINTHISWORKTHEJACOBIANTRANSPOSETECHNIQUEILLPERFORMEDBUTTHEJACOBIANINVERSETECHNIQUEISSUITABLEANDMORESOITISASIMPLE2DPLANARREPRESENTATIONOFTHEPROBLEMWITHONLY4DEGREESOFFREEDOM2OPERATIONSOFTHEROBOTICLINKFIG1SHOWSTHESCHEMATICDIAGRAMOFTHEROBOTICSEALINGSYSTEMTHECAPPINGORSTAMPINGISACHIEVEDWITHTHEPISTONORRAMHEAD,PCISTHECONVEYORLINETHECAPSORTHEBRANDINGHEADSAREPLACEDINPOSITIONANDSENSEDBYANINFRAREDSENSOR,STHEINSTRUCTIONTOSEALORBRANDISDEPENDENTONFEEDBACKFROMTHESENSORIFTHEITEMTOBEBRANDED,CAPPEDORSTAMPEDISOUTOFPLACEATTHEINSTANCEWHENTHERAMHEADWASGOINGTOTOUCH,THESENSORFEEDBACKWILLBETORETRACTTHEHEADITCANALSOBETONOTGOTOOFARTHERECANBEARANGEOFFEEDBACKTOTHEMOTORCONTROLLER,MTHISKINDOFCONTROLSYSTEMISSIMILARTOWHATAHUMANOPERATORWOULDDOIFITWEREMANUALLYOPERATEDTHEUSEOFSENSORSANDFASTRESPONDINGMOTORCONTROLLERWILLMAKETHISHYPOTHETICALMACHINEAVERYUSEFULTOOLINAFACTORYPERFORMINGTHISKINDOFMUNDANETASKTHISFACTORYSUBLINEISASIMPLESLIDERCRANKMECHANISMWITHACTUATORARMAINCLEARERTERMS,THEINSTRUCTIONSWOULDBETOPRESSTHEPISTONRAMTOSEALIFTHECAPANDTHECONTAINERAREINLINE;TOREVERSETHEPISTONINCASEOFAJAM;TONOTPRESSTHEPISTONRAMIFEITHERTHECONTAINERORTHECAPISABSENT;TOINTERNATIONALJOURNALOFENGINEERINGANDTECHNOLOGYIJET–VOLUME2NO10,OCTOBER,2012ISSN204934442012–IJETPUBLICATIONSUKALLRIGHTSRESERVED1718PRESSFURTHERIFTHESEALLENGTHISSHORTERTHANEXPECTEDASMAYBECAUSEDBYWEARANDTEARTHISCLEARLYSHOWSTHATTHEPISTONDETERMINESTHEANGLEOFTHELINKORTHEDIRECTIONORACTIONOFTHEMOTORTHISISANINVERSEKINEMATICSPROBLEMTHESENSORFEEDBACKPARTISMUCHOFACONTROLENGINEERINGPROBLEM,NOTCONSIDEREDINTHISPAPERFIG1THEROBOTICSEALINGRIGSCHEMATIC3ANALYSISFIG2ISAREPRESENTATIONOFTHESLIDERCRANKMECHANISMTHEREISANOFFSET,F,OFTHEPISTONAXISFROMTHEMOTORAXIS,O1O2ISTHEAXISOFTHEPISTONWITHMOVINGCOORDINATESX,YTHEMOTORROTATESCLOCKWISEORCOUNTERCLOCKWISEABOUTO1IFTHECRANKMAKESDISPLACEMENTΔSONTHEPISTONPLANE,ITISEQUIVALENTTOAMOTIONOFΔEXANDΔEYTHISMOTIONISCAUSEDBYTHECRANKMAKINGANANGULARMOTIONCLOCKWISEORCOUNTERCLOCKWISE,ΔTHEANGLEBETWEENTHECONNECTINGRODANDCRANKMAKESANANGULARDISPLACEMENTOF,ΔTHISALSOMEANSTHEANGULARSHIFTOFΔISMADEBETWEENTHECONNECTINGRODANDTHEPISTONORRAMPLANEFIG2THEOFFSETSLIDERCRANKCARTESIANCOORDINATEWORLDINACOMPUTERGAMEAPPLICATIONFORTHESE,THEANGLESWOULDBEEXPLICITLYREQUIREDSOTHATTHELINKSDONOT“PHYSICALLYDISJOINT”;FORAPHYSICALLYCONNECTEDLINK,THEMOTORCONTRO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

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