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Research on Sucked-type Polishing Robot

Author: XuGang
Tutor: QuXingTian
School: Jilin University
Course: Mechanical Manufacturing and Automation
Keywords: Polishing robot Robot kinematics Robot dynamics Open CNC System
CLC: TP242.2
Type: Master's thesis
Year: 2011
Downloads: 57
Quote: 1
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Abstract

With the rapid development of the automotive, appliance, aerospace industry and other high-tech industries, the increasingly high demand for the quality of the surface of the part. The traditional manual polishing laborious, difficult to guarantee accuracy. CNC machine polishing, can not be processed due to the constraints of fixture size, large and complex parts, and can not be mobile and flexible. This topic traditional CNC machine tools and industrial robots in flexible, highly intelligent, and flexible and other technical features independently developed a kind of free-form surfaces, high-precision, high-performance polishing robot able to adapt, improve large free-form surface finishing processing technology has a very important significance. In order to make the tool head to any position on the free-form surface normal vector direction polishing robot has five degrees of freedom of the adaptive function, including three linear movement and direction of the swing. Robot sucker foot institutions, work to ensure the robot can be a good static stability and dynamic stability; leg institutions using electric putter, it has the more impaired function; arm five degrees of freedom of the three a linear motion is achieved by a ball screw, and two oscillating bodies are composed of the arcuate rail mechanism and the involute spline structure. CATIA software in accordance with the functional requirements and design criteria, completed a three-dimensional solid modeling of the robot. In the design of the parts, the static analysis using finite element analysis software ANSYS force the situation is more complicated structure of the swing mechanism and the rotation axis, in order to verify the reasonableness of its structural strength and stiffness. The robot's control system to control the robot trajectory and action based on the the Joint Positions parameters based to achieve by writing a sports program. Solving various joint velocity, acceleration, torque, and the relationship between them is to solve the problem of robot kinematics and dynamics. Established 5 degrees of freedom the polishing robot kinematics mathematical model, the use of the DH method positive solutions for solving robot kinematics, inverse solution, speed Jacobian matrix and joint velocity, the relationship between the acceleration. Lagrange equations of the robot dynamics analysis to solve the joints of the driving force (torque) on the speed and acceleration of the function expression. In order to verify the correctness of the results of the kinematic calculations, the paper setting robot uniform walked angle of 20 ° a radius of a circular arc of 60 mm, the kinematics expression calculates the amount of displacement of each of the joints has been solved, and import data Adams the software trajectory simulation, to verify the correctness of the calculation results. Currently, the most widely used of open CNC system based on motion controller as a core processor PC IPC information processing platforms, ie \PC as the upper controller, mainly responsible for the work setting, adjustment and input parameters as well as to monitor the robot running state and non-real-time work. The lower machine motion control card with the host computer to communicate via the bus structure, the host computer instruction into the form of a pulse direction \CNC system hardware, the subject-based PC machine ADT-856 six-axis control card \In addition to design the pneumatic control system, used to assist in control of the walking mechanism of the robot polishing. Introduced the idea of ??a \Combination of ADT-856 control card library and VC 6.0 object-oriented programming language developed part of the functional modules of the program code.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Industrial robots
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