Design For Control System Of Heavy Load Transfer Robot And Research On Key Technology

Currently, with the continuous development of automation technology and the popularization of its application, industrial robots have replaced the traditional labor in the area of handling, welding, packaging, printing, etc. As one of a typical robot types, transfer robot has been applied more and more widely based on its high efficiency, compact structure, small volume and its strong and flexible working ability. There will be a higher request to the robot’s control accuracy, work efficiency, stability and its work space along with the development trend of the high speed and intelligent production line, which have also become part of evaluation index of industrial robot system’s performance.In this thesis, the main research area refers to the control system of the heavy load transfer robot, which is based on the actual application in production and aims to develop a set of robot system with a greater load carrying capability and manipulation flexibility. Work has been completed as below:Firstly, a preliminary scheme of the robot control system has been planned according to the actual function and the mechanical structure of the robot. In order to realize its function requirements, this control system is divided into six modules based on the designing idea of modularization and standardization. Each module is independent and cooperative as well, which makes the robot system more convenient for general maintenance, more efficient and versatile.Secondly, kinematics and dynamics analysis of the robot have been completed in this paper. Specifically, it includes the establishment of the kinematics model and coordinates’ solution of the robot. Then the motion trajectory of the robot is planned based on above. In this paper, trajectory planning based on the PVT(position, velocity and time) mode is introduced, which includes the details of the CPTP(continuous point to point) motion planning that is widely used in industry. The work done above makes sure that the robot has smooth joints’ velocity and acceleration. Overshoot will not exist in motion.Then, the whole hardware scheme of the control system is determined according to the model. Meanwhile, components selection and design of electrical diagram are completed according to the scheme. Software framework of the control system, motion control programming and HMI(Human Machine Interface) design are finished based on above.Finally, combining the development of the whole control system with the practical application, the robot runs normally and smoothly with heavy load. Through the final analysis and adjustment, the robot can meet the demand of automation in the area of engineering application.