| Robotic is an inportant part of high-tech and it is one of the key technologies achieving automation. With the development of robotics , it become one of main symbols in modern factory to introduce robot flexible manufacturing systme to production.Base on the development of new escalator step deburring system , this thesis introduces the research of the system which consists of the Yaskawa robot and several sepcial designed auxilary equipments. It discuss in detail the selection of robot and PLC , and the design of the transport equipment, the special milling machine , the sanding machine, and the electrical filing machine.It also discuss in detail the development of PLC controling software and Robot machining software, and present the actual program.This paper also give a method to control the machining force . and it was proven in the production.The thesis also lays out some practical photos of deburring system , which validates that the system design is reasonable and practicable. |
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