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Research On Sucked-type Polishing Robot

Posted on:2012-07-09Degree:MasterType:Thesis
Country:ChinaCandidate:G XuFull Text:PDF
GTID:2178330335450775Subject:Mechanical Manufacturing and Automation
Abstract/Summary:PDF Full Text Request
With the rapid development of automotive, appliance, aerospace industry and other high-tech industry, the quality requirements of parts surface is getting higher and higher. The traditional manual polishing processes are time-consuming and the precision are hard to guarantee. However, restricted by the size of fixtures, the NC polishing machine cannot processing large, complex parts, and cannot remove flexible. The traditional NC machine and industrial robots are combined in this topic with the technical characteristics such as flexible, high intelligence, and so on. Develops a high-precision, high-performance polishing robot which can adapt to free surface has a very important significance to improve the technology for large free surface finishing processing.In order to make the tool head to any vector position on the free surface in polishing, the robot has adaptive features for five degrees of freedom, including three straight-line movement and swing in two directions. Robot foot is chuck type which can keep robot working stable. The leg with motor-driven push-rod can overcome obstacles. And the two swinging mechanisms are made up of arc rail and spline. According to the function requirement and design criterion, the robot is completed three-dimensional solid model through CATIA. In designing of components, in order to verify the rational stiffness and strength in the structural, the stress situation for complex curved rails framework and the spline are analyzed by ANSYS software.The trajectory and action of robot are controlled by Robot's control system which based on position parameters in each joint, fulfilled by written motion-based programs. The problem to robot kinematics and dynamics is mainly on the joint velocity, acceleration, torque, and the relationship between them. The polishing robot with 5 degrees of freedom is established in this paper as a mathematical model. Also, when settling the problems such as solution, inverse solution, Jacobian matrix in velocity and the velocity and acceleration at joint in robot kinematics, the D-H method is available. As the robot is carried on dynamics analysis, the function expressions about driving force in speed and acceleration at each joint (torque) are solved by Lagrange equation. In order to verify the correctness of the results, the robot is set for walk through the arc with the angle is 20°and the radius is 60 mm. On this basis, each joint displacement is calculated by kinematics expression, and than take the data import to ADAMS software that convenient for simulate the trajectory. Through this method, the results are confirmed correct.Currently, the open CNC system is most widely used in two forms, one is take the controller as a core processors, and the other is consider the PC controller as a information processing platform, that is "PC machines with control card".PC, as the upper controller, is responsible for some non-real-time work, such as work settings, revising and inputting parameters, monitoring the robot operation status and so on. The control card in next machine communicates with the host computer through bus structures, and passed the information to the actuator in forms of switch or "pulse and direction" that is conversed by the commands comes from host computer. In the NC system hardware, the control system hardware platform is constructed in this paper with "PC Machine and ADT-856 six-axis control card" as its basis, the stepper motor as its actuator and limited switches, encoders, etc. as its accessories. In addition, the pneumatic control system is designed which can supply for auxiliary control for walking mechanism to polishing robot. In the software system, the concept of "modular" thinking is lead into. That means the function for the whole system is the ordered combination of many functional modules. Operational procedures for each module are developed from VC ++6.0 object-oriented programming languages and the ADT-856 control card provided by the library itself.
Keywords/Search Tags:Polishing Robot, Robot Kinematics, Robot Dynamics, Open CNC System
PDF Full Text Request
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