Structure Design of Automatic Loading and Unloading Manipulator Based on Visual Positioning 

Xiaolin Wei*, Cheng Xia

JiangSu Province Nanjing Engineering Vocational College, Nanjing, 211135, China 

Abstract: The loading and unloading manipulator has an indispensable role in industrial production. The structure of the manipulator is divided into two parts: the manipulator body and the gripper. The special parts with position feedback and anti-collision function are designed according to the demand of the work. The key parts of the manipulator body and the gripper are checked to achieve the purpose of improving the efficiency; the use of image processing in the visual systems, workpiece position determination and camera calibration can improve the precision of loading and unloading. Experiments showed that the proposed me-thod solves the problem of low accuracy for current manipulators, which can effectively improve the industrial production efficiency.

Keywords: Visual Positioning; Manipulator; Structural Design