| In recent years, with the rapid development of optical fiber network technology, the transmission capacity of optical fiber networks has reached T-bit level, or even higher, optical fiber network is gradually developing to all-optical network transition. Therefore, the realization of switching optical network quickly and accurately has become the current urgent demand. Research of automatic fiber wiring system becomes an urgent problem to be solved. In order to fill the blank of domestic automation equipment for optical fiber wiring, to replace the optical fiber distribution frame which needs manual wiring. This paper introduces an auto optic fiber network switching robot. It is designed and manufactured to replace the traditional optical fiber switching framework in small-closed type optical fiber distribution cabinet, in the circumstances where the realization of manual fiber wiring operation is difficult.In this paper, Research on the design of measurement and control system of optical fiber wiring robot based on its mechanical system. Firstly, for each different mechanical actuator, this paper analyzes the demand of measurement and control system to achieve different control goals, designed the measurement and control system framework, the chassis control system and manipulator control system are given separately. Secondly, this paper introduces the hardware platform of the robot controller, designed the robot controller with C8051F040MCU, and introduces the configuration method of C8051F040on-chip modules in the application. Thirdly, this paper designed the software system of the optical fiber wiring robot. The overall process structure of the optical fiber wiring robot software system is introduced, and then the paper introduces the configuration method of C8051F040on-chip modules in the application. As a dedicated robot controller, this paper also introduces the Jumper rules algorithm to coordinate all the mechanical actuators for optical fiber wiring and the motion control algorithm for the motion control in real-time and accuracy.At last, experiments have been done on the robot mechanical prototype, the whole control system is summarized. Places to be improved and problems to be solved are proposed for future research. |
