| Gelatinizing machine was birthed and developed with hermetic technics in the automotive industry. At present, gelatinizing machine has been used widely in automotive and electronic encapsulation filed. It is greatly significant for modern manufacturing to develop the gelatinizing robot which is adapted in company and have pliable and economical characteristic.According design requirement, the body of the robot use the cartesian manipulator which have high precision and have three degree of freedom. For the purpose to meet the demands of haul cycle, speed and position precision, detail description of the gearing, bracing system and power system is given in this paper. All key parts of the robot bady is calculated, checked and chosen in this paper.The controller of the gelatinizing robot is researched in detail in this dissertation. It is designed based on the Digital Signal Processor (DSP) which is used to control the speed and position of the axis of the robot. External memorizer was designed to manage gelatinizing task. The Serial Communication Bus and the Controller Area Network (CAN) bus module of the DSP provide the convenient interface of communication. Complex Programmable Logic Device (CPLD) is used as logic circuit in the controller. The same time, the CPLD is programmed as counter to calculate the feedback pulse by coder. So the position of the motor axis was detected. The software of the controller adopted foreground/background structure. The main loop primary deal with task swap and the interrupt program treat with the real-time tasks which require strictly scheduling. In different stage of the robot work, the priority of task is shifted for the purpose that to guarantee system real time and precise position control.Considering the reliability of the teaching-programming pendant and the problem that may encounter in the design process, an ARM embedded module was chosen to control this teaching-programming pendant. The ARM embedded module loads the Windows CE system which guarantees the software of the teaching-programming pendant reliable and the interface of the software friendly. Liquid Crystal Display (LCD) and standard PC keyboard is used to enhance the reliability and beauty of the teaching-programming pendant.Interpolation algorithm is always an important area in robot technology. A method is explore to research the Non-Uniform Rational B-Spline Curve (NURBS) interpolation algorithm and it's application in the robot control system in this paper. In conclusion, this interpolation method has greatly improved the processing speed and precision.The key technology of robot researched and applied in gelatinizing control was gaven in this dissertation, so parts of performance of this robot was improved and the demands of this design was meet finely. |
