Inclined Guide Surface Linear Drive Palletizing Robot Control System Design And Implementation

Begin to replace manual palletizing, palletizing robots are becoming part of the core equipment palletizing operations, its intelligence and the ability to determine the success of the palletizing system. In this paper, the control systems of the new type of inclining guided and liner driver palletizing robot were designed and implemented.The robot uses inclined guide surface on the spatial arrangement to optimize the mechanical load performance better. In terms of the use of linear servo drive element replace rotary joint element, one of the purposes is to avoid the use of expensive RV reducer. The new structure of the robot is particularly suitable for tasks of large loads, such as handling and palletizing on steel and aluminum smelter factory. On the studies of this subject, design and implement a small prototype and the control system. Also research of the nonlinear motion system algorithm for the control system, verification of control system is reasonable. The control system design is versatile, so they can further study for future similar institutions palletizing robots, and even lay a good foundation for practical application. According to the new structure for palletizing robot drive control technology, the paper completed the following specific tasks:First, technical requirements and structural design for palletizing robot design.Propose specific technical needs based on palletizing needs,design the SOLIDWORK model, analyzed and compared to the implementation of each joint. Determine the structural parameters of palletizing robots, through these parameters of palletizing robot to lay the foundation of inverse kinematics and trajectory planning.Second, Palletizing robot kinematics analysis, according to the palletizing robot structural analysis of the forward and inverse kinematics palletizing robot.In the forward kinematics section presents groundbreaking method of calculating similar triangles constructed kinematics of the institution.In part inverse kinematics using Newton iterative method to solve. Finally, MATLAB workspace simulation;Third, Trajectory planning, this section starting from the trajectory planning purposes raises two questions, and the answers to these two questions will be classified into four categories trajectory planning task.The main task of these four points is selected to achieve a space linear motion and spatial planning circular trajectory of the robot; Forth, Select the robot control system solutions. According palletizing robot technical indicators and the actual demand,the control system uses a GuGao GTS axis motion control card and Panasonic servo motor to bulid the control system hardware platform. Based on MFC and OPENGL library for C++language design control software algorithms and control interface.