Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste

doi:10.1007/s11633-020-1237-0

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	Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste
	Yue-Dong Ku; Jian-Hong Yang; Huai-Ying Fang; Wen Xiao; Jiang-Teng Zhuang
刊名	International Journal of Automation and Computing
	2020
卷号	17 期号:5 页码:691-700
关键词	Construction and demolition waste sorting robot grasping strategy mathematical models robot kinematics parameters.
ISSN号	1476-8186
DOI	10.1007/s11633-020-1237-0
英文摘要	The recycling of construction and demolition waste (CDW) remains an urgent problem to be solved. In the industry, raw CDW needs to be manually sorted. To achieve high efficiency and avoid the risks of manual sorting, a sorting robot can be designed to grasp and sort CDW on a conveyor belt. But dynamic grasping on the conveyor belt is a challenge. We collected location information with a three-dimensional camera and then evaluated the method of dynamic robotic grasping. This paper discusses the grasping strategy of rough processed CDW on the conveyor belt, and implements the function of grasping and sorting on the recycling line. Furthermore, two new mathematical models for a robotic locating system are established, the accuracy of the model is tested with Matlab, and the selected model is applied to actual working conditions to verify the sorting accuracy. Finally, the robot kinematics parameters are optimized to improve the sorting efficiency through experiments in a real system, and it was concluded that when the conveyor speed was kept at around 0.25 m/s, better sorting results could be achieved. Increasing the speed and shortening the acceleration/deceleration time would reach the maximum efficiency when the load would allow it. Currently, the sorting efficiency reached approximately 2 000 pieces per hour, showing a high accuracy.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42268]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361000, China
推荐引用方式 GB/T 7714	Yue-Dong Ku,Jian-Hong Yang,Huai-Ying Fang,et al. Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste[J]. International Journal of Automation and Computing,2020,17(5):691-700.
APA	Yue-Dong Ku,Jian-Hong Yang,Huai-Ying Fang,Wen Xiao,&Jiang-Teng Zhuang.(2020).Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste.International Journal of Automation and Computing,17(5),691-700.
MLA	Yue-Dong Ku,et al."Optimization of Grasping Efficiency of a Robot Used for Sorting Construction and Demolition Waste".International Journal of Automation and Computing 17.5(2020):691-700.