| With the development of the industrial 4.0 era,the level of automation and intelligence in the manufacturing industry has been greatly improved,which is closely related to the design and use of industrial robots.However,the current domestic small and medium enterprises can not afford to buy a large number of industrial robots,especially the loading and unloading tasks of rolling process is still completed manually,which results in low efficiency,low safety factor and low level of automation.Under the background of this research,based on the understanding of the latest development of rolling machine and loading and unloading manipulator at home and abroad,by mastering the technical parameters and track requirements of the rolling machine,we designed economical and applicable manipulator system in consideration of the cost,and conducted the theoretical research and simulation analysis.Firstly,this paper introduced the background,significance and research status of the manipulator.According to actual process requirements of rolling machine,we designed the structure of the main parts,driving system and transmission system of the loading and unloading manipulator in Solidworks,including the selection of the stepper motor and speed reducer,which completed the mechanical system design of the loading and unloading manipulator,and provided certain foundation for the following simulation of kinematics and dynamics.Then,we established the D-H coordinate system according to the three-dimensional model of the robot,and used algebraic method to calculate the forward and inverse kinematics equations of the robot.Also,we used the Sim Mechanics toolbox to carry on the virtual bar modeling in MATLAB,and got the workspace of the manipulator through simulation,which was beneficial to the reasonable layout of the manipulator position.And we conducted the forward and inverse kinematics simulation in MATLAB Robotics Toolbox,which verified the correctness of the kinematics equation gotten by using algebraic method before.Then we chose a path for the trajectory planning in joint space,which provided reference significance for the following trajectory planning of the whole path.Again,we found out the coordinates of some key points in the loading and unloading trajectory of the manipulator according to space layout between the manipulator and the rolling machine,and calculated the inverse solution in MATLAB.Then we did the interpolation of each joint angle with 3 B spline curve,and we got the curve of angle and time which was used as the driving function of ADAMS dynamics simulation,thus we obtained the kinematics and dynamics parameters of the manipulator by dynamic simulation.Among them,the kinematics parameters showed that the manipulator could meet the requirements of the rolling machine,and the dynamic parameters showed that the manipulator could run smoothly and the motor selection was reasonable.Finally,we determined I/O number of manipulator control system by drawing the detailed flow chart of the manipulator.Based on this,we did the address allocation and selection of PLC,programmed in STEP 7-Micro/WIN software.We gave the ladder diagram of the main program and part of the automatic program,and achieved the flexibility of the tray specifications of the loading and unloading manipulator,which provided certain foundation for the control of the following physics prototype.Overall,based on the theoretical research of robotics,this paper designed a kind of 4 degree of freedom manipulator driven by electric power.According to the simulation analysis and software programming,it showed that the robot could complete the loading and unloading tasks of rolling process successfully,which provided valuable foundation for the manufacture of later physical prototypes. |
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