Study On Robot Detection Platform For General Purpose Switches

In view of lower degree of automation, backward means, single testing items and other issues in switch detection, combined with different motion and force control requirements, this paper presents a dual-CPU open control platform for switch detection based on IPC and Turbo PMAC, in order to meet the increasingly diverse needs of switch styles and functions. This platform is composite of 3 sets of 4-DOF detection robots, which not only can realize the detection of different kinds of switches, but also has the reconfigurable potential. It can be quickly reconfigured and expanded, which achieves the real open function in switch detection.According to the design specifications and the working conditions, this paper first designs the 4-DOF Cartesian coordinate robot. During the process of design, the main mechanical structures and servo motor are calculated, checked and analysed, as it can ensure the high precision and rigidity of the mechanical transformation devices. Then 2 sets of universal switch fixtures and multiple sets of end actuators are proposed based on the shape characteristics of commonly used switches. On this basis, the robot kinematics equation and Jacobian matrix are established. Then this paper introduces the platform control system hardware architecture, explains those main components, and finishes the hardware components selection and the related circuit design.Secondly, this system uses an open motion control architecture realized by IPC and Turbo PMAC, in which the industrial computer acts as the foundation and Turbo PMAC acts as the core of motion control. Turbo PMAC is used to realize real-time control including motion control and PLC control, etc. IPC is responsible for non-real-time tasks such as man-machine interface management, code editing, etc. This paper introduces the software composition of Turbo PMAC, the implementation of PLC control and motion control required by switch detection based on Turbo PMAC in details. The program for the control panel function and handwheel function, the method for preventing interference are discussed. In the software, online teaching mode and offline programming mode is employed to achieve general purpose switch detection. During the detection, the software can get real-time motion joints status and external collected information.Finally, the current popular servo control systems are studied and the servo control mode of detection platform is determined. The composite PID control strategy is used to make the system get a good motion performance. The PMAC Tuning Pro software is used to complete PID adjustment. In the end, this paper used the experimental data to validate the practicality and feasibility of this platform.