Design And Research On Planar Motion System Of Intelligent Assist Devices

With the increasing production requirements, the demanding for precision, stability and security of materials handing in engineering environment became higher and higher. The Intelligent Assistance Devices (IADs) was proposed with the development of robot technology. This paper focus on the analysis and research on intelligent assistance devices'planar motion system.First, combined with the actual conditions and the application characteristics of intelligent power device, the orthogonal plane motion system was developed. The erection of mobile modules track system was analyzed, and different set up ways were given for different operating conditions.According to the structure of the planar motion system, the kinematics and dynamics simplify models were established,and the calculation equations were derived. The three-dimensional simulation model was established based on the mathematical model. With the driving input, the stress characteristics of the mobile system in different conditions can be obtained, which can provide reference parameters for the structure strength analysis and the simulation of control system.According to the derived force, which acting on the orbital plane by mobile module on the basis of dynamic simulation results, the parametric model of track section was derived Based on the results of finite element analysis; topology optimization method was introduced to finish structure optimization. A reasonable section shape was got by this method. Meanwhile, the mobile module structure design and key components of the finite element strength check to ensure the stability of the whole system have been done.The control systems of planar motion system were proposed finally and the DC motor serve control system model were established using the Simulink of MATLAB software. In order to meet the design requirements, a PID controller was designed and the parameters were determined on the basis of the dynamic simulation results. The analysis and simulation provide a theoretical basis for the further experiments.