Research On Cooperation Motion Technology Of Humachine Cooperation Manipulator

Technical innovation for production, the improvement in livingstandards, a growing need for new product, increase in complexity ofthe product, the life of the product being shortened daily, updatingquickly, all of these caused that the middle and small batch ofproduction, even single piece produce ,occupy a more and more importantpositions. Face to the new situation, the enterprises must have Animpressive promotion in flexible manufacturing and productionefficiency, shorten the period of production, ensure the quality ofproduct and reduce energy use, so that it can reduce cost of production,receive a better economic performance, and ensure enough ability forcompetition.Under this situation, the Chinese scientist put forward man-machineintegration theories in 1990's. Its core is man as a center, walkman-machine integration technique line. The system is made of man andmachine. They complete their job that they are good at lonely. on thefoundation of equal cooperation, they can feel, understand and makedecision together. They can learn by each other, team work together.So that is super intelligent system. The theories make the systemattain the best economic profit and performance.Humachine cooperation manipulator With man-machine integrationtheories as core can work in non-structure environment, and worksaccording to the person's will. The person is an operator and themanipulator is a actuator. They can work together closely, and alsotransport goods at a blurry position. Telerobot can also work in thepeople's will to some extent, but operator and manipulator detach onthe space, in addition to the special environment that is harmful tohuman, it is very difficult to meet the request of modernengineering's efficiency;On the other hand, the design of currentindustrial robots are mostly according to the customer of need. Acertain robot can only work under the special environment, lackingflexible ability.After putting forward the speculation of Humachine cooperationmanipulator, the author made reference to many domestic andinternational papers about robots. Domestic and internationaltechnique about robots is already mature, so the problem with Humachinecooperation, to a large extent, is the interface with man and machine,kinematics algorithm and drives of each joint.The author carried on theories and experiment research to aboveproblem, and take the research that have been done and result of researchas follows:1. Designed mechanical construction of Humachine cooperationmanipulator. The mechanical construction is polar coordinates robot,include: a joint for circumgyrate, a joint for pitch and a joint formovement. The joint for circumgyrate is used to swing arm from leftto right or right to left. The joint for pitch is used to move arm fromtop to bottom or bottom to top. The joint for movement is used to movearm from front to back or back to front. polar coordinates robot havemany advantages, such as small physical volume, structure tightly, thework space is big and can moderate with other robot etc.. Theestablishment of the machine structure provides theories model and sizebasis for kinematics algorithm of Humachine cooperation manipulator andenough experience and theories supporting for researching morecomplicated and many joints robot.2. Research on cooperation motion algorithm of Humachine cooperationmanipulator on the foundation of theories model. Solve each jointvariety of the manipulator when we have already known the position andpose of the last coordinate. This is a method : at first, simplifyHumachine cooperation manipulator's mechanical structure diagram assimple theories model, and adopt a D-H method to build up coordinatesystem and describe to the position and pose of manipulator, thencalculate the relationship between the claw coordinate system and thefoundation coordinate system. It is 04T , 04T related with each joint.The last coordinate system is the very claw coordinate system, so thedescription of the claw coordinate system is always unaltered in thelast coordinate system. The description is [ ]4 p = 0 0 0 1 T. Theimport interface of manipulator is fixed in origin of the clawcoordinate system, so the direction of the claw is ? 0p. The initialvalue of 0p have already known, then we can obtain the value ofθ1 , θ 2and d 3. The position and pose of manipulator solved therelationship of generalized displacement of each joint. Yakobi matrixcan solve the relationship between speed and acceleration at foundationcoordinate system. Researching on the algorithm, it provided a databasis for cooperation motion algorithm of Humachine cooperationmanipulator, also provided reference for further research in the futureand opened my mind.3. Drives and data-collection of export interface device, steppingmotor, of Humachine cooperation manipulator. Stepping motor is thepower source of each joint. Each joint angle variety owe to varietyof angle of stepping motor. Author used MCS-51 and SLA7026M to controland drive stepping motor. The angle is measured by another device.The program that drives stepping motor was written by software C++Builder 6. Throughout learning and usage of stepping motor, Iunderstand MCS-51 further and operational principle and operationmethod of stepping motor.It becomes true that is the concept of Humachine cooperationmanipulator. Not only it can solve the problem that is to move to thetarget in misty position, but also strengthen its flexibility greatly.Success in Humachine cooperation manipulator solves one of key problemsto flexible manufacturing line. In the enterprise, the efficiency ofmiddle or small batch, even single piece, is promoted greatly and thecost reduces.Humachine cooperation manipulator can also be used for otheroccasions, for example: The cement transports the way of remote controlthat the car transports piping and adopts now and carry on a control.Because the piping is longer, it isn't easy to accurate control, if weadopt the technology of Humachine cooperation manipulator, the workercan drag piping to anyplace, and the operation will be easy. I believethe technology will be used widely in the future.