Automatic Assembly System Based On KUKA Industrial Robots

With its unique flexible working ability,human-machine cooperation ability,fault diagnosis and processing capability,etc.,assembly robots have attracted more and more attention from enterprises,and are gradually applied to various industrial fields with broad application prospects.In this thesis,after understanding the mechanical structure characteristics,performance characteristics and robot cooperative operation principle of KUKA industrial robot,combined with the specific application characteristics of PLC control system,the automatic assembly system based on KUKA industrial robot is designed and implemented.First,research is conducted on the components of the automatic handling system,namely the conveyor system,the execution system and the control system.The transmission system includes a linear conveyor belt and a turntable.The execution system includes a KUKA KR6 R900 Sixx robot and a KUKA LBR IIWA 7 R800 robot.The control system of the handling system selects a PLC motion control system,wherein the electrical control cabinet integrates a PLC,a switch,and an air switch,human-machine interface HMI and other components,including pneumatic transmission systems.Project establishment,communication bus configuration,and handling control program writing for two industrial robots were performed using KUAK Workvisual and Sunrise.workbench software packages.Botu TIA V14 is responsible for the programming configuration of the control system control core PLC controller,man-machine interface writing,variable definition assignment,and the writing of the control program for the specific running sequence.Secondly,the kinematics analysis of the industrial robot is carried out,including the pose description of the robot,the establishment of the linkage coordinate system,the improved DH parameter method to obtain the pose pose matrix,and then the kinematics equation of the robot is obtained.For KUKA KR6 R900 The Sixx robot and the KUKA LBR IIWA 7 R800 robot performed forward and inverse kinematic analysis and solution to verify the correctness of the kinematic equation.Combined with the robot task,the trajectory planning of the robot is performed by the cubic spline interpolation method in the joint space of the IIWA robot,so that thedisplacement and velocity curves of the joints of the robot are smooth and continuous,and the acceleration curve is continuous.Then the communication connection of each hardware device and the initial configuration of the robot system,including zero calibration,establishment and determination of each coordinate system.Use the Sunrise.Workbench software to configure the control system of the KUKA IIWA robot,including system engineering establishment,site configuration,security settings,various coordinate establishment and parameter acquisition,and write the robot running program during automatic operation.Create and configure an external automatic running project of the KUKA robot in the WorkVisual 4.0 environment,including communication establishment with PLC,HMI,etc.,programming and debugging the running sequence of the external automatic running and the running subroutine of the robot.Finally,each project is loaded into its own controller,the entire system is powered on,and the configuration before the external automatic operation is performed on the smartPAD,including the selection of the external automatic running program and the setting of the running speed.After the system is running,the two robots are transported by the conveyor belt to carry out the workpiece grabbing and placement work.The system automatically cycles back and forth,and the entire system runs stably and efficiently.