The Research And Develop Of Tube Robot Control System Based On DMC

In recent years, with the automation degree of production become higher in the enterprises, and the cost of labor force increase gradually, the factory pay more and more attention on the robot, the technical requirements of robot become higher. The design of new tube robot control system mainly apply to the tube manufacturing process, the research and development of tube robot will improve the efficiency and quality of tube production at a great extent, save a lot of labor, enhance the competitiveness of enterprises in tube production.This paper study tube robot control system based on DMC, the tube robot mainly includes manipulator and the turnover mechanism. According to the control system hardware and software design of the tube robot, integrating the stepper motor with tube robot auxiliary device, the tube robot control system is designed which is high position accuracy, move fast and reliable. The design details of tube robot control system are as follows:In terms of hardware of control system, the suitable device type is chosen to combine the tube robot hardware part, using the combination form of digital motion controller DMC and industrial PC, it provides a parallel double CPU, the ability of operation data processing is fast and it has high degree of openness of control system, the key program of tube robot is developed.In terms of software of control system, using Viusal Basic 6.0 as second development software, according to the ActiveX provided by Galil, the motion controller and the host computer can communicate with each other, design the human-machine interface which fit the tube robot.The mathematical model of stepper motor and motor acceleration and deceleration curve are established, the fuzzy PID theory and motor acceleration and deceleration algorithm are integrated to control stepper motor, then to simulate the stepper moter control system by MATLAB/Simulink, the control effect is found that become optimization, improve the response speed and positioning accuracy of manipulator operation.To simulate the turnover mechanism and observe whether there is interference in mechanism, the trajectory of tube can be got through the simulation data, and verify the reliability of four linkage mechanism.This paper provides a new type of industrial robot which is suitable for tube manufacture it solves the disadvantage of low positioning accuracy of manipulator, to improve robot position accuracy and speed, to reduce the tube scrap rates, to enhance the tube production yield, for the tube companies that can enhance their economic efficiency, improve technolog level of our robot level.