针对手工铺贴瓷砖成本高、工作效率低、劳动强度大等问题,设计了一种搭载机械臂的瓷砖铺贴末端执行器.设计真空系统实现瓷砖吸放,设计惯性式激振器实现振动压实,利用激光测距传感器与边缘搜索方法检测定位.基于ROS开发了铺贴系统,实现了搭载机械臂的瓷砖铺贴实验.结果表明,该装置能够实现 300 mm×300 mm的瓷砖铺贴作业,重复定位标准偏差小于0.343 mm.
Abstract
A tile laying end effector equipped with a robotic arm was designed to address the issues of high cost,low work efficiency,and high labor intensity in manual tile laying.The vacuum system is designed to realize tile suction and release,the inertial shaker is designed to realize vibratory compaction,and the laser ranging sensor is used to detect and locate the tiles with the edge search method.Based on ROS,a tiling system was developed to realize the tiling experiment with robotic arm on board.The result shows that the device can finish 300 mm×300 mm tile paving operation,the repeated positioning standard deviation for tile positioning is lower than 0.343 mm.
维普
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