Design And Research Of Mechanical And Electrical Systems Of Polishing Robot

Robot technique as a synthesis system, which includs kinematics and dynamics theory, machine design and manufacture, computer hardware and software, control theory, sensor technology, artificial intelligence and so on, is widely used in scope of industrial production, exploration of the sea and the space, national defense etc. In the manufacture process of the engine shell for solid rocket, insulation is stick at its inner-wall, which needs polish to thin and with uniform surface. The traditional manual polish method is not only inefficiency and low-quality, but also the dust, which is great harm for the health of staff. In order to improve production efficiency and improve the working environment, people have developed polishing robot to achieve the polishing process automation and intelligent.The purpose of this article is to develop a special polishing robot, which is composed of three degrees. With the help of polishing robot, the task of polish can be completed by the cooperation of each joint'coordinated movement. Firstly, based on the CATIA software, we have analyzed kinematics and dynamics of robot, built robot motion control system. by adjusting the angle of the joints, the robot can grind the targets in a certain range. Then with ANSYS to analyze intensity and rigidity, chooses the optimal structure. and determine the rationality of the main body designs.Secondly. in according to the requirements of system for the rapid response, smooth work, after the comparison of various forms of servo system and the electrical theory, have chose various joint drive ways on the polishing robot, AC servo motor and reducer, and used advanced control technology to realize motion control of polishing robot, so that polished robot system design is optimal at last.Finally, analyzed the structure of hardware and software, the specific work mode of control system of the polishing robot including IPC and PMAC and the grading controlled structure of the various servo motor, the application of PMAC Annex in robot system and elaborately researches the main characteristics, the principal functions, software and other issues of the movement controller-PMAC.