Design Of The Injection Molding Machine Dedicated Robotic Control System

With the booming development of injection molding machine and the Industrial automation, as well as the increasing effects of labor shortage, the requirement of manipulators in factories are increasing. This situation will promote the research and exploitation of the manipulators for injection molding machines, in order to economize on manpower and improve the economic efficiency of the enterprise.In fact, the improvement of servo control of the manipulators for injection molding machines will improve the manipulating accuracy of the manipulator and core competence of the enterprises.In order to improve the accuracy and speed of the manipulator, the design in this thesis adopts the cartesian-coordinate manipulator driven by servo motors. According to the real requirements and analysis of research priorities of the control system for manipulators, this thesis aims to conduct a detailed study of the modeling of the servo system, trajectory tracking algorithm, he interactive interface design, system realization as well as expriments and simulations of the cotrol system for 3-axes manipulators.Firstly, this thesis proposed the general structure design for the special high-speed manipulator for injection molding machines. In addition, this thesis detailedly introduces the hardware control system composed of motion controller (GUS-600-TG02-HD, Googol Technology Limited), handset and servo motor (ASDA).Secondly, the electromechanical system structure of the 3-axes manipulators is analyzed. The modeling method of the electromechanical servo system. And then the model of the control system of the manipulator is established.Thirdly, the trajectory planning based on 3-points circular interpolation is developed and the sine s-shape speed curve is built for the manipulator. Then the servo control algorithm based on H∞ control law and iterative learning feedforward compensation, which is verified by the simulation.Fourthly, the control system of the manipulator is relazied by programming and the teaching control interface is designed.Lastly, the conclusion of the reseach on the manipulators for injection molding machine are given, and proposed the work remaining to be improved. Besides, the future development of the manipulators for injection molding machine is developed.