The Research Of Control System And Trajectory Planning Of The Leaf-spring Carrying Manipulator

In recent years, with the increase of demand for vehicles, the auto industry has rapid development; the application and demand of vehicles spring demand are increasing. The spring production has many processes, in the process of spring production in china; most of the machines for leaf-spring carrying are human handling or the type of plane carrying manipulator. The vehicles spring are generally very heavy, and the production environment is also very bad, in this case,not only the labor intensity increase but the safety of workers can not be guaranteed,on the other hand, the plane manipulator is not very flexible to some degree. Today, the labor shortage is rather serious, labor requirements are much bigger than the supply, in the process of spring production, the question of labor intensity and the safe guarantee can be solved by using a five shaft drive of joint type leaf-spring carrying manipulator. This will bring great breakthrough to the leaf-spring production.The main content of this article include:1. According to the present production situation of spring,a five shaft drive of joint type leaf-spring carrying manipulator is proposed in the handling tasks of production process, and the system composition, structure and the machine body design are analyzed. The drive mode chooses electric drive based on the comparison of air pressure, hydraulic and electric power, and expounds the clamping claw.2. Describe the registration appearance and space coordinate transform, establish the leaf-spring carrying manipulator coordinate system, determine the manipulator's D-H parameters, and build the manipulator's kinematics model eventually. Analysis the kinematic of leaf-spring carrying manipulator, and check the kinematics positive and inverse solutions.3. According to the design requirements of the control system of carrying manipulator, the general structure of the control system is analyzed and the design of control system scheme is selected, also, the sensors of control system, servo motor and the structure of position control are expounded. And supply part of the hardware circuit design of the control system based on the STC12C5A60S2series single-chip.4. Introduce two kinds of trajectory planning method of Descartes space and joint space, and two interpolation method of joint space.By using subsection of five polynomial interpolation method, make relevant experiments on the trajectory of carrying manipulator bring joint space by robotics toolbox in matlab software, and the simulation results are analyzed.The simulation results show that the joint angular displacement, velocity and angle acceleration curve are smooth and continuous under the joint space section of five polynomial interpolation method of generating trajectory path planning, this method can ensure the smooth of manipulator trajectory and the stability of the manipulator, and manipulator end will not vibrate. So, planning the trajectory of manipulator has important practical significance.