Cylindrical Coordinate Robot With 4/5 Compatible Dof And Its Group Control System

With the development of modern manufacturing technology,the robot technology will develop towards modularity,automation and flexibility urgently.Nowadays,there are many different kinds of robots,but the robot control system for different degrees of freedom(DOF)is difficult to be unified and has shortcomings of limited adaptability and expansibility.Besides,the handshaking communication between robots takes up a lot of hardware resources.It not only increases the cost of equipment,but also reduces the reliability of the system.The control system which is compatible with different DOF robot is able to realize the centralized control function of multiple robots with different DOF.The external handshake communication between robots is transformed into the internal communication of the robot group control system,which improves the interoperability and flexibility of the robot control system.Therefore,the cylindrical coordinate robot with different DOF and its group control system have a bright prospect.Aiming at the design of cylindrical coordinate robot with 4/5 compatible DOF and its group control system,this paper has carried out the following research:Firstly,the structure scheme of the cylindrical coordinate transfer robot with 4/5 DOF was designed.The main technical specifications of the robot ware determined.The mechanic part of the robot was designed by modular design methodSecondly,the kinematics and dynamics model of the 4/5 DOF cylindrical coordinate robot were established,which were the foundations of the group control system of the 4/5 DOF cylindrical coordinate robot.The correctness of the Robot D-H model and robot kinematics equation has been verified based on motion simulation under Solidworks circumstance.The correctness of the Robot D-H model and robot forward kinematics equation was proved by dynamics simulation under the environment of MATLAB.Thirdly,the paper proposes a trajectory planning algorithm and two path generator for 4/5 DOF cylindrical coordinate robot in joint space and Cartesian space.This paper mainly illustrates the effects of path generator with T-speed and S-speed.In addition,the control system of the 4/5 DOF cylindrical coordinate robot was designed based on the EtherCAT technology,including the designs of hardware and software.Through expanding hardware and software systems,the group control system of the 4/5 DOF cylindrical coordinate robot was designed.This paper mainly illustrates the design of the software PLC Program and the human-computer interface.Finally,in order to further verify the relevant indicators of the cylindrical coordinate robot with 4/5 compatible DOF and its group control system,the experimental analysis was realized.The experimental analysis includes no-load performance,load performance,repositioning precision,the precision in line interpolation,the synchronous motion performance of the cylindrical coordinate robots,and the application in the stamping production line.The experimental results show that the cylindrical coordinate robot with 4/5 compatible DOF and its group control system in this paper can meet the design requirements.